Regular Papers

International Journal of Control, Automation and Systems 2023; 21(2): 604-615

Published online January 30, 2023

https://doi.org/10.1007/s12555-021-0768-7

© The International Journal of Control, Automation, and Systems

Adaptive Robust Control via a Nonlinear Disturbance Observer for Cable-driven Aerial Manipulators

Li Ding*, Kailei Liu, Guibing Zhu, Yaoyao Wang, and Yangmin Li

Jiangsu University of Technology

Abstract

This article proposes a novel robust control scheme for the trajectory tracking control of a cabledriven aerial manipulator in joint space, combining an adaptive fractional-order nonsingular terminal sliding mode (FONTSM) manifold and a nonlinear disturbance observer (NDOB). The proposed control scheme mainly consists of three aspects, i.e., an NDOB used to estimate the unmodeled dynamics and external disturbances, a FONTSM applied to guarantee the control accuracy of the tracking performance, and an adaptive reaching law applied to improve the robustness. The proposed scheme is based on the model-free idea that can reduce the difficulty of controller design without knowing the precise dynamics of the plant. The experimental results show that the proposed controller can ensure better transient performance and stronger robustness against lumped disturbances than two other existing controllers.

Keywords Aerial manipulator, cable-driven, fractional-order, nonlinear disturbance observer, robust control, terminal sliding mode.

Article

Regular Papers

International Journal of Control, Automation and Systems 2023; 21(2): 604-615

Published online February 1, 2023 https://doi.org/10.1007/s12555-021-0768-7

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Robust Control via a Nonlinear Disturbance Observer for Cable-driven Aerial Manipulators

Li Ding*, Kailei Liu, Guibing Zhu, Yaoyao Wang, and Yangmin Li

Jiangsu University of Technology

Abstract

This article proposes a novel robust control scheme for the trajectory tracking control of a cabledriven aerial manipulator in joint space, combining an adaptive fractional-order nonsingular terminal sliding mode (FONTSM) manifold and a nonlinear disturbance observer (NDOB). The proposed control scheme mainly consists of three aspects, i.e., an NDOB used to estimate the unmodeled dynamics and external disturbances, a FONTSM applied to guarantee the control accuracy of the tracking performance, and an adaptive reaching law applied to improve the robustness. The proposed scheme is based on the model-free idea that can reduce the difficulty of controller design without knowing the precise dynamics of the plant. The experimental results show that the proposed controller can ensure better transient performance and stronger robustness against lumped disturbances than two other existing controllers.

Keywords: Aerial manipulator, cable-driven, fractional-order, nonlinear disturbance observer, robust control, terminal sliding mode.

IJCAS
February 2024

Vol. 22, No. 2, pp. 347~729

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