Adaptive Finite-Time Constrained Attitude Stabilization for an Unmanned Helicopter System under Input Delay and Saturation
Abstract
:1. Introduction
- (1)
- In this paper, the problem of attitude stabilization control with output constraints, actuator saturation, input delay and external disturbance is considered. The dependence on precise input delay and the upper bound of disturbance is relaxed; thus, the control scheme is more concise.
- (2)
- By integrating the BLF and input memory compensation, a novel constrained memory sliding mode (CMSM) is designed to handle the input delay and attitude constraints. On this basis, an adaptive finite-time nonlinear observer (AFNO) is designed for quickly estimating the external interference and unknown delay deviation.
- (3)
- Based on CMSM and AFNO, a saturated finite-time attitude stabilization controller (SFASC) is designed to tackle the input saturation problem via the adaptive laws. By using Lyapunov analysis, the constrained attitude can converge to zero in finite time despite the disturbance, input delay and actuator saturation.
2. Problem Formulation and Preliminaries
2.1. Attitude Dynamics
- All the signals of the closed-loop control system are finite-time stable, and the states of system (1) converge to zero in finite time.
- The attitude angles are always within the prescribed constraint intervals, and the control input constraints are never violated despite the disturbances and input delay.
2.2. Mathematical Preliminaries
3. Main Results and Analysis
3.1. Constrained Memory Sliding Mode Surface Design
3.2. Adaptive Finite-Time Nonlinear Observer Design
3.3. Saturated Finite-Time Attitude Stabilization Controller
- (1)
- All the signals of the closed-loop attitude control system are stable and bounded in finite time despite the attitude constraints, actuator saturation, input delay and external disturbance.
- (2)
- The system states converge to zero in finite time.
- (3)
- The attitudes remain within the constrained set.
- (4)
- The control inputs never violate the saturation constraints.
4. Simulation Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Li, Y.; Yang, T. Adaptive Finite-Time Constrained Attitude Stabilization for an Unmanned Helicopter System under Input Delay and Saturation. Processes 2024, 12, 1787. https://doi.org/10.3390/pr12091787
Li Y, Yang T. Adaptive Finite-Time Constrained Attitude Stabilization for an Unmanned Helicopter System under Input Delay and Saturation. Processes. 2024; 12(9):1787. https://doi.org/10.3390/pr12091787
Chicago/Turabian StyleLi, Yang, and Ting Yang. 2024. "Adaptive Finite-Time Constrained Attitude Stabilization for an Unmanned Helicopter System under Input Delay and Saturation" Processes 12, no. 9: 1787. https://doi.org/10.3390/pr12091787