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Volume 10 Issue 2
Feb.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
M. S. Song, F. Zhang, B. X. Huang, and P. F. Huang, “Anti-disturbance control for tethered aircraft system with deferred output constraints,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 474–485, Feb. 2023. doi: 10.1109/JAS.2023.123222
Citation: M. S. Song, F. Zhang, B. X. Huang, and P. F. Huang, “Anti-disturbance control for tethered aircraft system with deferred output constraints,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 474–485, Feb. 2023. doi: 10.1109/JAS.2023.123222

Anti-Disturbance Control for Tethered Aircraft System With Deferred Output Constraints

doi: 10.1109/JAS.2023.123222
Funds:  This work was supported by the National Natural Science Foundation of China (61725303, 91848205)
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  • In this paper, we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft, airflow disturbances and deferred output constraints. Independent of exact initial values, a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is guaranteed. Meanwhile, to deal with deferred output constraints, an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov function. Then, by combining the modified observer and the improved controller, an anti-disturbance control scheme is presented, which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time, and the tethered aircraft tracks the desired trajectory accurately. Finally, both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.


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    • Unlike the previous works, the paper considers the fact that the main aircraft flies unsteadily
    • Unlike the current ESO, the modified shifting function-based ESO avoids the peaking phenomenon
    • The improved output constrained controller solves the deferred output constraint problem
    • The tethered aircraft with any bounded initial condition tracks the desired trajectory exactly


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