Adaptive Fuzzy Control for an Uncertain Axially Moving Slung-Load Cable System of a Hovering Helicopter with Actuator Fault

Yong Ren, Zhijia Zhao, Choon Ki Ahn, Han Xiong Li

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This study addresses adaptive fuzzy control for an axially moving slung-load cable system (AMSLCS) of a helicopter in the presence of an actuator fault, system uncertainty, and disturbances with the aid of fuzzy logic system (FLS). The actuator fault considered is depicted by a more general faulty plant that includes an unknown actuator gain fault and a fault deviation vector. First, to compensate for system uncertainty and the fault deviation vector, a fuzzy control technique is adopted. Then, under the introduced FLS, a novel adaptive fuzzy control law is developed by employing a rigorous Lyapunov derivation. The closed-loop system of the AMSLCS is proved to be uniformly bounded even when considering actuator fault, system uncertainty, and disturbances. Finally, a simulation is executed to expound the performance of the developed controller.

Original languageEnglish
JournalIEEE Transactions on Fuzzy Systems
DOIs
Publication statusAccepted/In press - 2022

Keywords

  • actuator fault
  • Actuators
  • Adaptive fuzzy control
  • Adaptive systems
  • axially moving slung-load cable system
  • Fuzzy control
  • Fuzzy logic
  • Helicopters
  • Nonlinear systems
  • system uncertainty
  • Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics

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