人工神经网络
径向基函数
功能(生物学)
计算机科学
控制(管理)
人工智能
控制工程
控制理论(社会学)
工程类
生物
进化生物学
作者
Duc Tien Bui,Manh Duong Phung
出处
期刊:Robotica
[Cambridge University Press]
日期:2024-04-19
卷期号:: 1-19
标识
DOI:10.1017/s0263574724000559
摘要
This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the topology and trajectory of the formation. A double-loop control system combining backstepping and sliding mode control techniques is then designed for the UAVs to track the trajectory. A radial basis function neural network (RBFNN) capable of estimating external disturbances is developed to enhance the robustness of the controller. The stability of the controller is proven by using the Lyapunov theorem. A number of comparisons and software-in-the-loop (SIL) tests have been conducted to evaluate the performance of the proposed controller. The results show that our controller not only outperforms other state-of-the-art controllers but is also sufficient for complex tasks of UAVs such as collecting surface data for inspection. The source code of our controller can be found at https://github.com/duynamrcv/rbf_bsmc
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