控制理论(社会学)
稳健性(进化)
欠驱动
滑模控制
计算机科学
稳健性
同轴
执行机构
控制工程
机器人
工程类
控制(管理)
人工智能
物理
非线性系统
电信
生物化学
化学
量子力学
基因
离群值
作者
Jingjing Xiong,Nai-Huan Guo,Jun J. Mao,Hui Wang
出处
期刊:IEEE transactions on systems, man, and cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2022-01-01
卷期号:53 (2): 1160-1171
被引量:3
标识
DOI:10.1109/tsmc.2022.3193377
摘要
Sliding mode control (SMC), which is well known to its insensitivity to parameter uncertainties and robustness against various disturbances, has been widely adopted for some types of underactuated systems, including multirotor unmanned aerial vehicles (UAVs). This article is absorbed in developing a self-tuning SMC strategy to perform the robust and adaptive tracking control for an uncertain coaxial octorotor UAV (COUAV) with the actuator faults. Such a strategy is composed of manifold coefficients, which are adjusted by employing gradient descent method. It is also composed of continuous controllers that are designed by utilizing the radial basis function neural network (RBFNN) to approximate the total disturbances, where the approximation errors of RBFNN are estimated by using the adaptive control method. Moreover, the developed SMC strategy allows tuning the adaptive coefficients of the constructed manifolds, eliminating the inherent chattering phenomenon, and addressing the robust and adaptive tracking control problems for an uncertain COUAV. Comparative simulation results are carried out to illustrate the effectiveness of the developed SMC strategy.
科研通智能强力驱动
Strongly Powered by AbleSci AI