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Modeling and Robust Backstepping Sliding Mode Control with Adaptive RBFNN for a Novel Coaxial Eight-rotor UAV
  • ISSN号:1671-637X
  • 期刊名称:《电光与控制》
  • 时间:0
  • 分类:V279[航空宇航科学与技术—飞行器设计;航空宇航科学技术] V249.1[航空宇航科学与技术—飞行器设计]
  • 作者机构:the Department of Control Science and Engineering,Jilin University, the Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun Institute of Optics,Fine Mechanics and Physics, Chinese Academy of Sciences, University of Chinese Academy of Sciences
  • 相关基金:supported by National Natural Science Foundation of China(11372309,61304017)
中文摘要:

This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances.

英文摘要:

This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller (BSMC) with adaptive radial basis function neural network (RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances. ? 2014 Chinese Association of Automation.

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期刊信息
  • 《电光与控制》
  • 中国科技核心期刊
  • 主管单位:中国航空工业集团公司
  • 主办单位:中国航空工业洛阳电光设备研究所
  • 主编:刘红漫(执行)
  • 地址:洛阳市西工区凯旋西路25号
  • 邮编:471009
  • 邮箱:dgykz@vip.163.com
  • 电话:0379-63327293
  • 国际标准刊号:ISSN:1671-637X
  • 国内统一刊号:ISSN:41-1227/TN
  • 邮发代号:
  • 获奖情况:
  • 1998-2002获河南省优秀科技期刊三等奖,2002年获中学术期刊(光盘版)电子杂志社执行“检...
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  • 被引量:8293