Vibration Control for a Nonlinear Three-Dimensional Suspension Cable With Input and Output Constraints
研究了直升机三维悬索系统的振动控制问题，针对输出约束和输入滞后，设计了边界控制器和滞后逆补偿器，通过仿真验证了控制律的有效性。
This study is concerned with the dynamical analysis and vibration attenuation for a three-dimensional (3-D) suspension cable system of a helicopter preceded by output constraints and input backlash. First, the dynamic model of a 3-D suspension cable is constructed in accordance with Hamilton’s principle. Then, a backlash inverse compensator is established to tackle the input backlash nonlinearities. Subsequently, three boundary controllers together with output signal barrier functions are proposed to dampen the oscillations while not violating the cable swing constraints. The uniform boundedness of the closed-loop system is guaranteed with recourse to the direct Lyapunov’s method. Finally, the validity and efficiency of the derived control laws are testified through simulation results.