Anti-swing control for a suspension cable system of a helicopter with cable swing constraint and unknown dead-zone

摘要

This paper is devoted to investigating the anti-swing control problem for a suspension cable system of a helicopter with cable swing constraint and unknown dead-zone. Barrier Lyapunov function is adopted to guarantee that cable swing constraint will not be violated and dead-zone problem is considered as a special bounded disturbance to tackle in the processing of adaptive controller design. Under the proposed control law, the uniform ultimately boundedness of closed-loop system is analyzed. Meanwhile, the vibration range will converge to a small neighborhood of zero by choosing suitable design parameters in spite of considering cable swing constraint and unknown dead-zone. The performances of the designed adaptive boundary control scheme are verified by a numerical simulation. (C) 2019 Published by Elsevier B.V.