Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie Hui; Veitch Darryl

摘要

Summary >This paper presents two nested input saturation control schemes for a special class of multiple vector integrators with bounded additive disturbances. The considered systems originate from the motion control of rotary‐wing unmanned aerial vehicles (UAVs). The first scheme is based on a feedforward form, which requires state transformation and can be applied to stabilize arbitrary order vector integrator systems. The second scheme is constructed with original state variables using a new approach, applied here to double vector integrator systems. The capability of handling external disturbance using the two schemes is also analyzed. The two schemes are applied to design motion controllers for rotary‐wing UAVs and simulation results are provided to show the performances of two controllers. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”XML：ID =“RNC4760-ABS-ABS-0001”> <标题类型=“main”>摘要</ title> >本文为具有有界附加障碍的特殊类别多个向量集成商提供了两个嵌套输入饱和控制方案。考虑系统源自旋翼无人驾驶飞行器（UAV）的运动控制。第一方案基于前馈形式，其需要状态变换，并且可以应用于稳定任意顺序矢量积分器系统。第二种方案用原始状态变量使用新方法构建，此处应用于双矢量集成器系统。还分析了使用这两种方案处理外部干扰的能力。这两种方案适用于设计运动控制器，用于旋转UAV，提供仿真结果以显示两个控制器的性能。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2020年第1期</span><b style="margin: 0 2px;">|</b><span>共20页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Xie Hui&option=202" target="_blank" rel="nofollow">Xie Hui;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Veitch Darryl&option=202" target="_blank" rel="nofollow">Veitch Darryl;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>School of Computing Engineering and MathematicsWestern Sydney UniversityPenrith Australia;</p> <p>School of Electrical and Data EngineeringUniversity of Technology SydneyUltimo Australia;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=disturbance observer&option=203" rel="nofollow">disturbance observer;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=globally stable&option=203" rel="nofollow">globally stable;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=multiple vector integrators&option=203" rel="nofollow">multiple vector integrators;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=nested saturation control&option=203" rel="nofollow">nested saturation control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=unmanned aerial vehicles&option=203" rel="nofollow">unmanned aerial vehicles;</a> </p> <div class="translation"> 机译：干扰观察者;全球稳定;多个矢量积分商;嵌套饱和控制;无人驾驶飞行器; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" 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