Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV
文献类型：期刊论文
| 作者 | Qiao, Guanyu; Peng, Cheng |
| 刊名 | High Technology Letters
 |
| 出版日期 | 2018 |
| 卷号 | 24期号:2页码:142-148 |
| 关键词 | Aircraft control Attitude control Backstepping Controllers Numerical methods Robust control Sliding mode control Uncertainty analysis Unmanned aerial vehicles (UAV) |
| ISSN号 | 10066748 |
| DOI | 10.3772/j.issn.1006-6748.2018.02.004 |
| 英文摘要 | The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity, higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly, a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances, a robust backstepping sliding mode control (BSMC) with self recurrent wavelet neural network (SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively. Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally, the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments. Copyright by HIGH TECHNOLOGY LETTERS PRESS. |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/60582]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | Qiao, Guanyu,Peng, Cheng. Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV[J]. High Technology Letters,2018,24(2):142-148. |
| APA | Qiao, Guanyu,&Peng, Cheng.(2018).Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV.High Technology Letters,24(2),142-148. |
| MLA | Qiao, Guanyu,et al."Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV".High Technology Letters 24.2(2018):142-148. |
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