Finite-time anti-disturbance control of an information-constrained autonomous helicopter flexible slung-load system with compound disturbance

Abstract

This study investigates the finite-time anti-disturbance control problem of an autonomous helicopter flexible slung-load system (AHFSLS) by describing it as a distributed parameter system with matched disturbance, mismatched disturbance, and vibration information constraint. Here, initially, a novel compound disturbance observer is proposed to simultaneously compensate for matched and mismatched disturbances. Then, by executing a rigorous Lyapunov stability analysis, with the help of a barrier Lyapunov function, the vibration amplitude converges into a compact set for the AHFSLS. The simulation results demonstrated the efficiency of the developed control strategy in dealing with matched and mismatched disturbances, vibration information constraint, and vibration in the AHFSLS.