Quadrotor unmanned aerial vehicle (UAV) have always been a difficult problem in the design of UAV controllers in the face of complex exogenous disturbances during autonomous flight. Focusing on this problem, this paper put forward a sliding mode control method which combined with radial basis function neural network (RBFNN). Firstly, based on the Newtonian Euler equation, the trajectory tracking problem of quadrotor UAV is transformed into altitude and attitude control problem, and then the corresponding dynamic equations are obtained. Secondly, the controllers are designed based on the second-order sliding mode manifold, in the meantime, the gusts and uncertain parameters in the control law are estimated by using RBFNN. Simulation results show the stability and performance advantages of the proposed method applied to UAV control system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Anti-Wind Resistance Quadrotor UAV Sliding Mode Controller Design Based on RBFNN


    Beteiligte:
    Chen, Yin (Autor:in) / Xiong, Jingjing (Autor:in)


    Erscheinungsdatum :

    26.07.2024


    Format / Umfang :

    1412090 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Adaptive Sliding Mode Controller Design with Disturbance for Quadrotor*

    Wang, Xian / Zhao, Jing / Xie, Fei et al. | IEEE | 2018


    An ESO-based attitude sliding mode controller design for quadrotor UAV

    Ma, Fengying / Yang, Zhe / Ji, Peng et al. | British Library Conference Proceedings | 2022


    An Adaptive Sliding Mode Controller for Quadrotor UAV

    James, Binoj / Bindu, G. R. | Springer Verlag | 2023


    Adaptive robust nonsingular terminal sliding mode design controller for quadrotor aerial manipulator

    Riache, Samah / Kidouche, Madjid / Rezoug, Amar | BASE | 2019

    Freier Zugriff