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

摘要

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.