Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks
In this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsyste...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/7379680 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832548639536316416 |
|---|---|
| author | Min Wan Mou Chen Kun Yan |
| author_facet | Min Wan Mou Chen Kun Yan |
| author_sort | Min Wan |
| collection | DOAJ |
| description | In this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsystem. The uncertainty term of the system is handled by the inherent approximation ability of the neural network. The sliding model control scheme under the backstepping frame is developed for tackling disturbances. The stability of the simplified system is proved by using the Lyapunov theory, and the tracking errors are guaranteed to be uniformly bounded. Numerical simulation results show that the proposed control strategy is effective. |
| format | Article |
| id | doaj-art-d57af62619b444cf9c4919f3e2112094 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-d57af62619b444cf9c4919f3e21120942025-02-03T06:13:29ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/73796807379680Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural NetworksMin Wan0Mou Chen1Kun Yan2College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaIn this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsystem. The uncertainty term of the system is handled by the inherent approximation ability of the neural network. The sliding model control scheme under the backstepping frame is developed for tackling disturbances. The stability of the simplified system is proved by using the Lyapunov theory, and the tracking errors are guaranteed to be uniformly bounded. Numerical simulation results show that the proposed control strategy is effective.http://dx.doi.org/10.1155/2018/7379680 |
| spellingShingle | Min Wan Mou Chen Kun Yan Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks Complexity |
| title | Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks |
| title_full | Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks |
| title_fullStr | Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks |
| title_full_unstemmed | Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks |
| title_short | Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks |
| title_sort | adaptive sliding mode tracking control for unmanned autonomous helicopters based on neural networks |
| url | http://dx.doi.org/10.1155/2018/7379680 |
| work_keys_str_mv | AT minwan adaptiveslidingmodetrackingcontrolforunmannedautonomoushelicoptersbasedonneuralnetworks AT mouchen adaptiveslidingmodetrackingcontrolforunmannedautonomoushelicoptersbasedonneuralnetworks AT kunyan adaptiveslidingmodetrackingcontrolforunmannedautonomoushelicoptersbasedonneuralnetworks |