Unilateral boundary control for a suspension cable system of a helicopter with horizontal motion

Boundary Control for a Suspension Cable System of a Helicopter With Saturation Nonlinearity Using Backstepping Approach

“…4 and Fig. 9, it is obvious that the control performances by using the proposed adaptive boundary control in this paper are better than the proposed control scheme in [5]. Meanwhile, combining Fig.…”

“…where β, γ , ε, l 1 , l 2 , and l 3 are positive constants,d(t) is the estimation of the unknown constantd. Invoking (5) and 7yields…”

“…Considering the PD control strategy is a linear method, it will be more persuasive to use a nonlinear control method as a comparison. Thus, under the auxiliary system (7) and adaptive law (15), another nonlinear control approach which has been used in article [5] will be adopted to check the effectiveness of the proposed control method in this paper.…”

“…The unilateral control is more easy to implement than bilateral control which has been used in [3], [6], [7], [42]. 3) A numerical simulation is developed to verify that the proposed control scheme in this paper is superior to the proportional-differential (PD) control and the introduced control strategy in [5]. The rest of this paper is listed as follows.…”

“…An adaptive boundary control is introduced based on the proposed auxiliary system for the suspension cable system of a helicopter in Section III. Section IV shows the control performances by using the proposed control scheme in this paper, PD control and the applied control strategy in [5] by a numerical simulation, which is followed by the conclusion in Section V.…”