Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Rong Mei,Ning Wang

doi:10.1155/2021/8869292

Abstract

Aiming at the suspension cable system of an unmanned helicopter with sensor fault under complex environment, this paper studies the robust antiswing tolerant control scheme. To suppress the swing of the hanging load when the unmanned helicopter is in the forward flight state, a nonlinear line motion model is firstly established. Considering the sensor fault of the unmanned helicopter, a sensor fault estimator is developed. By using the fault estimator output, the robust antiswing tolerant controller is proposed using the backstepping technique and sliding mode control method. Under the designed robust antiswing tolerant controller, the desired tracking control performance can be obtained and the swing angle of the load is guaranteed small under the sensor fault. Furthermore, the closed-loop system stability is analyzed by using the Lyapunov technique. Simulation studies are given to show the efficiency of the designed robust antiswing control strategy.

Highlights

Due to the unique characteristics such as vertical takeoff, vertical landing, good maneuverability, high work capability in complex environments, and hovering low-speed flying, the helicopter has been widely used in different practical areas during the past several decades [1]
In [37], an observer-based tolerant control scheme was designed for unmanned aerial vehicle with sensor faults. e reconstruction method was proposed for the aircraft with sensor fault under disturbances in [38]
In [40], a fuzzy adaptive tolerant control scheme was proposed for a quadrotor unmanned aerial vehicle with nonlinear sensor fault

Summary

Introduction

Due to the unique characteristics such as vertical takeoff, vertical landing, good maneuverability, high work capability in complex environments, and hovering low-speed flying, the helicopter has been widely used in different practical areas during the past several decades [1]. In [37], an observer-based tolerant control scheme was designed for unmanned aerial vehicle with sensor faults. In [40], a fuzzy adaptive tolerant control scheme was proposed for a quadrotor unmanned aerial vehicle with nonlinear sensor fault. The fault-tolerant control methods are rare for the suspension cable system of an unmanned helicopter with sensor fault which needs to be further studied. The scheme of a robust antiswing control is studied for the suspension cable system of an unmanned helicopter with sensor fault to improve its reliability. (2) e robust antiswing control law is developed for the suspension cable system of an unmanned helicopter by using sensor fault estimator, backstepping technology, and the desired tracking trajectory.

Problem Description

Design of Sensor Fault Estimator

Design of Robust Antiswing Control Plan Based on Sensor Fault Estimator

Simulation Study