Discrete-Time Adaptive Neural Tracking Control and Its Experiments for Quadrotor Unmanned Aerial Vehicle Systems

Xiuyu Zhang, Yue Wang, Guoqiang Zhu, Xinkai Chen, Chun Yi Su

研究成果: Article査読

抄録

For the control of a quadrotor unmanned aerial vehicle, the strong nonlinearities, coupling, and underactuated problem in both positioning and attitude systems of the quadrotor are major challenging issues to be solved. In this article, a discrete-time adaptive dynamic surface control (DSC) scheme for the quadrotor is proposed to obtain a satisfactory tracking performance. The nonlinearities and couplings are overcome by employing the designed robust adaptive DSC nonlinear control method. The underactuated problem is overcome by solving the designed adaptive neural control equations. Also, different from the continuous-time control scheme, the discrete-time control is more suitable for the computer and network control in practicable cases. Furthermore, the digital first-order low-pass filters are constructed to predict the future virtual control signal in the backstepping method, leading to the avoidance of the model transformation problem in the discrete-time backstepping method.

本文言語English
ジャーナルIEEE/ASME Transactions on Mechatronics
DOI
出版ステータスAccepted/In press - 2021

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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