Aiming at applying unmanned aerial vehicle (UAV) emergency transportation in marine scene, this paper investigates an adaptive neural network fault-tolerant control strategy for quadrotor-slung-load system (QSLS), in which actuator faults, marine wind disturbance and suspended payload are considered simultaneously. Firstly, dynamics model of QSLS and detailed marine wind field are established. Then, a fault-tolerant controller is designed by combining disturbance observer (DO) and radial basis function (RBF) neural network, in which external disturbances as well as lumped internal disturbances including system uncertainties and actuator faults are effectively inhibited. In addition, gradient descent algorithm (GDA) is introduced to train RBF to better approximate unknown dynamics and compensate the system. And Lyapunov stability analysis demonstrates convergence of the proposed strategy. Finally, the effectiveness and superiority of the proposed scheme are fully verified by comparative simulation and experimental tests.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Neural Network-Based Fault-Tolerant Control for Quadrotor-Slung-Load System Under Marine Scene


    Beteiligte:
    Li, Bo (Autor:in) / Li, Yuxue (Autor:in) / Yang, Pengcheng (Autor:in) / Zhu, Xiaoyuan (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2024-01-01


    Format / Umfang :

    4051594 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Trajectory Tracking Control for a Quadrotor with a Slung Load

    Mosco-Luciano, A. / Castro-Linares, R. / Rodriguez-Cortes, H. | IEEE | 2020


    Modeling and Control of Quadrotor Formations Carrying a Slung Load

    Ariyibi, Segun / Tekinalp, Ozan | AIAA | 2018


    Anti-Swing Control Structure for the Biplane Quadrotor with Slung Load

    Dalwadi, Nihal / Deb, Dipankar / Ozana, Stepan | Springer Verlag | 2023


    Adaptive Harmonic Extended State Observer Based Anti-Swing Attitude Control of a Quadrotor-Slung-Load System

    Song, Dalei / Song, Guangyi / Lv, Jiahui et al. | SAE Technical Papers | 2023