论文标题
源自可变的惯性参数模型的空中操纵器的强大分数快速终端滑动模式控制
Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model
论文作者
论文摘要
操纵器与无人机（UAV）之间的耦合干扰会恶化系统的控制性能。为了获得空中操纵器的高性能，本文提出了基于可变的惯性参数的强大分数快速终端滑动模式控制（FOFTSMC）策略。首先，通过使用可突变的惯性参数来得出空中操纵器的动力学。然后，基于动态模型，强大的FoftSMC算法旨在使系统在耦合干扰下稳步飞行。此外，进行稳定性分析以证明跟踪误差的收敛性。最后，给出比较模拟结果以显示所提出的方案的有效性和优越性。
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode control (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, the dynamics of aerial manipulator with consideration of the coupling disturbance is derived by utilizing mutable inertia parameters. Then, based on the dynamic model, a robust FOFTSMC algorithm is designed to make the system fly steadily under coupling disturbance. Furthermore, stability analysis is conducted to prove the convergence of tracking errors. Finally, comparative simulation results are given to show the validity and superiority of the proposed scheme.
