Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network
In this paper, adaptive tracking control is applied to improve performances of an underactuated quadrotor helicopter with respect to attitude and position control. Firstly, the dynamic model is presented. Then a new trajectory tracking algorithm is designed by using the sigma-pi neural network and b...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
|
| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/1510341 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832545380898701312 |
|---|---|
| author | Zhiming Chen Kang Niu Lei Li |
| author_facet | Zhiming Chen Kang Niu Lei Li |
| author_sort | Zhiming Chen |
| collection | DOAJ |
| description | In this paper, adaptive tracking control is applied to improve performances of an underactuated quadrotor helicopter with respect to attitude and position control. Firstly, the dynamic model is presented. Then a new trajectory tracking algorithm is designed by using the sigma-pi neural network and backstepping. The paper designs the sigma-pi neural network compensation control law and gives the Lyapunov-type stability analysis. Then the corresponding numerical simulations are performed by using MATLAB. Simulation results are shown to demonstrate the effectiveness of the proposed control strategy, which could reduce tracking error, decrease tracking time, and improve the anti-interference ability of the system. |
| format | Article |
| id | doaj-art-88f4807ddf6045b5b3e4925a48a536a3 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-88f4807ddf6045b5b3e4925a48a536a32025-02-03T07:26:05ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/15103411510341Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural NetworkZhiming Chen0Kang Niu1Lei Li2Micro Satellite Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaShanghai Institute of Space Technology Research Center, Shanghai 201109, ChinaMicro Satellite Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaIn this paper, adaptive tracking control is applied to improve performances of an underactuated quadrotor helicopter with respect to attitude and position control. Firstly, the dynamic model is presented. Then a new trajectory tracking algorithm is designed by using the sigma-pi neural network and backstepping. The paper designs the sigma-pi neural network compensation control law and gives the Lyapunov-type stability analysis. Then the corresponding numerical simulations are performed by using MATLAB. Simulation results are shown to demonstrate the effectiveness of the proposed control strategy, which could reduce tracking error, decrease tracking time, and improve the anti-interference ability of the system.http://dx.doi.org/10.1155/2019/1510341 |
| spellingShingle | Zhiming Chen Kang Niu Lei Li Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network International Journal of Aerospace Engineering |
| title | Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network |
| title_full | Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network |
| title_fullStr | Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network |
| title_full_unstemmed | Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network |
| title_short | Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network |
| title_sort | research on adaptive trajectory tracking algorithm for a quadrotor based on backstepping and the sigma pi neural network |
| url | http://dx.doi.org/10.1155/2019/1510341 |
| work_keys_str_mv | AT zhimingchen researchonadaptivetrajectorytrackingalgorithmforaquadrotorbasedonbacksteppingandthesigmapineuralnetwork AT kangniu researchonadaptivetrajectorytrackingalgorithmforaquadrotorbasedonbacksteppingandthesigmapineuralnetwork AT leili researchonadaptivetrajectorytrackingalgorithmforaquadrotorbasedonbacksteppingandthesigmapineuralnetwork |