In this article, a L1 neural network adaptive fault-tolerant controller is exploited for an unmanned aerial vehicle attitude control system in presence of nonlinear uncertainties, such as system uncertainties, external disturbances, and actuator faults. A nonlinear dynamic inversion controller with sliding mode control law is designed as the outer-loop controller to track the attitude angles quickly and accurately which reduces dependence on model accuracy. A L1 neural network adaptive controller of the inner loop is introduced to compensate the nonlinear uncertainties and have a good attitude tracking. The radial basis function neural network technique is introduced to approximate a lumped nonlinear uncertainty and guarantee the stability and transient performance of the closed-loop system, instead of converting it to a half-time linear system by the parametric linearization method. Simulation results demonstrate the effectiveness of the proposed controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    L1 neural network adaptive fault-tolerant controller for unmanned aerial vehicle attitude control system


    Beteiligte:
    Zhou, Yan (Autor:in) / Liu, Huiying (Autor:in) / Guo, Huijuan (Autor:in) / Li, Jing (Autor:in)


    Erscheinungsdatum :

    2021-10-01


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Attitude control system of unmanned aerial vehicle

    LIANG JIMIN / ZHAO GANG / WANG WEIJUN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Sensor fault–tolerant control of a quadrotor unmanned aerial vehicle

    Patan, Mehmet Gokberk / Caliskan, Fikret | SAGE Publications | 2022


    UNMANNED AERIAL VEHICLE WITH COLLISION TOLERANT PROPULSION AND CONTROLLER

    SIDOTI ANTONINO / VALCESCHINI MATHIEU / PABOUCTSIDIS ALEXANDRE et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    UNMANNED AERIAL VEHICLE WITH COLLISION TOLERANT PROPULSION AND CONTROLLER

    SIDOTI ANTONINO / VALCESCHINI MATHIEU / PABOUCTSIDIS ALEXANDRE et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Unmanned aerial vehicle with collision tolerant propulsion and controller

    SIDOTI ANTONINO / VALCESCHINI MATHIEU / PABOUCTSIDIS ALEXANDRE et al. | Europäisches Patentamt | 2021

    Freier Zugriff