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Automatic Load Alleviation Simulation During Boom Refueling for UAV

Yaohong Qu, Ziquan Yu, Youmin Zhang


In recent years, a number of algorithms of automatic load alleviation (ALA) for UAV boom refueling were developed, but most works are usually conducted without considering the force caused by the steering angle of spherical joint. Aimed at the problem, this paper proposes a method of fractional order sliding-mode control to restrict the force caused by the steering angle of spherical joint. Firstly, considering nonlinear characteristics, a refueling boom model is built. Secondly, a force model and reference command generator is constructed. Then, a control law based on fractional order sliding-mode control is designed to restrict the force caused by the steering angle of spherical joint using the variable structure control theory and the Lyapunov stability theory. Finally, simulation is carried out to verify the designed control law. Simulations show that the proposed fractional order slidingmode controller achieves good performance.

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