Observer-Based Flexible Switching Control of the Aircraft Skin Inspection Robot with State/output Disturbances

In this paper, a flexible switching control for the adsorption systems of an aircraft skin inspection robot (ASIR) suffers from the problem that the input saturation and the state/output disturbances. This issue can be formulated as a multi-agent tracking control problem. An augmented disturbance ob...

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Bibliographic Details
Published in2020 39th Chinese Control Conference (CCC) pp. 3926 - 3930
Main Authors Wu, Xuewei, Wang, Congqing
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2020
Subjects
Adsorption
Aircraft
aircraft skin inspection robot
disturbance observer
Disturbance observers
flexible switching control
input saturation
Robots
Skin
state-feedback track control
Switches
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Summary:In this paper, a flexible switching control for the adsorption systems of an aircraft skin inspection robot (ASIR) suffers from the problem that the input saturation and the state/output disturbances. This issue can be formulated as a multi-agent tracking control problem. An augmented disturbance observer (ADO) is designed to reconstruct the original adsorption systems to reduce the effects of the unknown state/output disturbances. The global asymptotic stability of the ADO is guaranteed by appropriate assumptions on the system parameters and the physical structure. The tracking error is uniformly ultimately bounded (UUB) by using the observer-based state-feedback tracking controller, and the simulation result demonstrates the benefits and effectiveness of the technical approach.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9189435