Robust Control Using Self Recurrent Wavelet Neural Network for a Coaxial Eight-Rotor UAV with Uncertainties

摘要：

　　This paper focuses on the robust control of a coaxial eight-rotor UAV in the presence of model uncertainties and external disturbances.The dynamical and kinematical model of the eight-rotor with high drive capability is established.On account of the uncertainties,a robust back-stepping sliding mode control(BSMC)with self-recurrent wavelet neural network(SRWNN)method is proposed as the attitude controller of the eight-rotor.SRWNN as the uncertainty observer can effectively estimate the lumped uncertainties.All weights of SRWNN can be trained online by the adaptation laws based on Lyapunov stability theorem.Then the uniformly ultimate stability of the eight-rotor system is proved.Finally,simulation results demonstrate the validity of the proposed robust control method adopted in the eight-rotor under model uncertainties and external disturbances.

关键词： Coaxial eight-rotor UAV Self-recurrent wavelet neural network Uncertainties External disturbances

作者: Cheng Peng Yue Bai Xun Gong Yantao Tian

作者单位: Department of Control Science and Engineering,Jilin University,Changchun,China Chinese Academy of Sciences,Changchun Institute of Optics Fine Mechanics and Physics,Changchun,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 71-80

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）