Section 5.2 presents the problem formulation and preliminaries. In Sect. 5.3, the system uncertainties in the discrete-time attitude dynamic model is dealt with by using NN approximation principle. Furthermore, in order to suppress the negative influence of external disturbances on the system, a DTDO based on the NN is designed, and the output of DTDO is applied to the design of the controller in Sect. 5.3. Meanwhile, the influence of compensating input saturation on the dynamic model control of UAV by utilizing the auxiliary system. Then, according to the NN-based DTDO, the auxiliary system, the discrete-time tracking differentiator and the BC technology, the NN-based discrete-time adaptive controller is designed, and the Lyapunov stability theory is used to prove the boundedness of the closed-loop system signals in Sect. 5.3. In Sect. 5.4, by selecting appropriate control parameters, numerical simulation results show the effectiveness of the proposed discrete-time flight control scheme. Finally, Sect. 5.5 draws the conclusions of this chapter.
Discrete-Time NN Attitude Tracking Control for UAV System with Disturbance and Input Saturation
Studies in Systems, Decision and Control
Robust Discrete-Time Flight Control of UAV with External Disturbances ; Kapitel : 5 ; 93-118
2020-09-27
26 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation
Online Contents | 2014
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