Preset finite-time H∞fault-tolerant control for a quadrotor with slung load
In actual flight,a quadrotor with slung load system is easily affected by load swing and external in-terference,which may lead to actuator failure.To solve this problem,a bounded H∞fault-tolerant controller is designed based on the backstepping method to suppress external interference and eliminate the influence of ac-tuator faults.Neural networks are used to approach the uncertainty of the load in the system,and a preset fi-nite-time performance function is introduced at the same time,so that the tracking error can still be con-strained within a predetermined range even under the influence of loads and external disturbances.The de-signed controller can ensure that the system tracks accurately the reference trajectory and have high anti-inter-ference performance.Finally,the effectiveness of the designed controller is verified by simulation.
quadrotor with slung loadbacksteppingneural networkbounded-H∞ controlpreset perfor-mance control
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