This article addresses the prescribed performance tracking control problem for the quadrotor slung load system under input saturation and partial-state constraints. First, based on the method of barrier Lyapunov function, load position and linear velocity are constrained in the specified regions. Then, the fixed-time prescribed performance control is introduced to the load attitude loop to confine the swing magnitude of the cable and simultaneously pledge the faster convergence speed. In addition, the hyperbolic tangent functions and the auxiliary systems are incorporated to alleviate the saturation nonlinearity effect. In virtue of the Lyapunov stability approach, all signals of the entire system are uniformly ultimately bounded and the constrained states remain within the specific performance boundaries. Finally, numerical simulation results attest to the effectiveness of the proposed backstepping control scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Antisaturation Backstepping Control for Quadrotor Slung Load System With Fixed-Time Prescribed Performance


    Contributors:


    Publication date :

    2024-08-01


    Size :

    1169666 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English