Arbitrary Convergence Time Control for Aerial Manipulator with TSK Estimator

Yanjie Chen, Xincheng Liu, Changjing Shang, Jianhui Chen, Xiang Chang, Fei Chao, Yaonan Wang

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

37 Wedi eu Llwytho i Lawr (Pure)

Crynodeb

This paper investigates the stable control problem of unmanned aerial manipulator (UAM) in the presence of lumped disturbance, including modelling uncertainties and external inferences. These disturbances typically involve limited prior knowledge and change rapidly, presenting considerable challenges to real-time control accuracy. To address this issue, a Takagi-Sugeno-Kang estimator (TSKE) with K-closest fuzzy rules interpolation (K-FRI) is proposed to derive an approximation for the uncertain disturbances. The incorporation of K-FRI enhances the accuracy and convergence rate of the estimation under the conditions of a sparse fuzzy rule base with an incomplete fuzzy quantity space. Subsequently, a backstepping controller with arbitrary convergence time is introduced to guarantee the rapid and precise control of the UAM. The stability of both the TSKE and the controller with arbitrary convergence time is analysed through Lyapunov theory. The feasibility and performance of the proposed control strategy are validated via comparative experimental simulations, demonstrating its ability for robust estimation capability with stable control performance, at any convergence time of the UAM working under lumped disturbance.

Iaith wreiddiolSaesneg
Teitl2024 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2024 - Proceedings
CyhoeddwrIEEE Press
Nifer y tudalennau6
ISBN (Electronig)9798350319545
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 30 Meh 2024
Digwyddiad2024 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2024 - Yokohama, Siapan
Hyd: 30 Meh 202405 Gorff 2024

Cyfres gyhoeddiadau

EnwIEEE International Conference on Fuzzy Systems
ISSN (Argraffiad)1098-7584

Cynhadledd

Cynhadledd2024 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2024
Gwlad/TiriogaethSiapan
DinasYokohama
Cyfnod30 Meh 202405 Gorff 2024

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