Article: An ASMDO-based finite time safe control approach for unmanned aerial manipulator Journal: International Journal of System Control and Information Processing (IJSCIP) 2025 Vol.4 No.3 pp.235 - 252 Abstract: Owing to the presence of disturbance and model uncertainties, unmanned aerial manipulator (UAM) may fail to maintain favourable tracking performance while conducting trajectory tracking tasks. To address this problem, this paper presents a safe control approach for UAM to achieve both finite-time convergence of tracking errors and adherence to predefined state constraints. Firstly, an adaptive dual-layer nested structure is applied to construct a disturbance suppressor, guaranteeing the suppression margin converges to a stable range. Then, by designing a nonsingular fast terminal sliding surface for tracking errors and introducing an asymmetric barrier Lyapunov function (BLF), a finite-time safe controller is proposed to achieve finite-time convergence of tracking errors, while guaranteeing the positions remain within the safety constraints. Theoretical analysis is provided to shed light on the properties of both the disturbance suppressor and the finite-time safe controller. Moreover, the effectiveness and feasibility of the proposed control approach are verified through a series of simulation results. Inderscience Publishers - linking academia, business and industry through research

Title: An ASMDO-based finite time safe control approach for unmanned aerial manipulator

Authors: Yanjie Chen; Guohang Zeng; Mengzhao Shen; Xincheng Liu

Addresses: School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China ' School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China ' School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China ' School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China

Abstract: Owing to the presence of disturbance and model uncertainties, unmanned aerial manipulator (UAM) may fail to maintain favourable tracking performance while conducting trajectory tracking tasks. To address this problem, this paper presents a safe control approach for UAM to achieve both finite-time convergence of tracking errors and adherence to predefined state constraints. Firstly, an adaptive dual-layer nested structure is applied to construct a disturbance suppressor, guaranteeing the suppression margin converges to a stable range. Then, by designing a nonsingular fast terminal sliding surface for tracking errors and introducing an asymmetric barrier Lyapunov function (BLF), a finite-time safe controller is proposed to achieve finite-time convergence of tracking errors, while guaranteeing the positions remain within the safety constraints. Theoretical analysis is provided to shed light on the properties of both the disturbance suppressor and the finite-time safe controller. Moreover, the effectiveness and feasibility of the proposed control approach are verified through a series of simulation results.

Keywords: UAM; unmanned aerial manipulator; BLF; barrier Lyapunov function; safe control; finite-time control.

DOI: 10.1504/IJSCIP.2025.146943

International Journal of System Control and Information Processing, 2025 Vol.4 No.3, pp.235 - 252

Received: 11 Oct 2023
Accepted: 05 Aug 2024
Published online: 27 Jun 2025 *

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Title: An ASMDO-based finite time safe control approach for unmanned aerial manipulator

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