LAUSR

Abstract During the pivotal docking process of autonomous aerial refueling (AAR), the flexible refueling hose's transient vibration resulted from the receiver aircraft's excessive closure speed must be immediately suppressed once it appears, due to its disastrous refueling accident possibility. This paper proposes a permanent magnet synchronous motor (PMSM) driven active vibration control scheme for the flexible refueling hose, via the robust integral of the sign of the error (RISE) feedback control and extended state observer (ESO). The active vibration control scheme can suppress the transient hose vibration under multiple disturbances, without angular velocity measurement. The unmeasured load torque is estimated and compensated via the ESO, together with other uncertainties. The proposed method takes advantages from both the disturbance observer-based control and RISE based disturbance suppression control, which tactfully bridge the gap between these two different anti-disturbance control methods. Extensive simulations results demonstrate that the proposed method can rapidly suppress the hose vibration with satisfactory accurately, even in the presence of the probe position perturbation and parametric uncertainties.