UM
Adaptive Position/Attitude Tracking Control of Aerial Robot With Unknown Inertial Matrix Based on a New Robust Neural Identifier
Lai G.1; Liu Z.1; Zhang Y.1; Chen C.L.P.2
2016
Source PublicationIEEE Transactions on Neural Networks and Learning Systems
ISSN21622388 2162237X
Volume27Issue:1Pages:18-31
AbstractThis paper presents a novel adaptive controller for controlling an autonomous helicopter with unknown inertial matrix to asymptotically track the desired trajectory. To identify the unknown inertial matrix included in the attitude dynamic model, this paper proposes a new structural identifier that differs from those previously proposed in that it additionally contains a neural networks (NNs) mechanism and a robust adaptive mechanism, respectively. Using the NNs to compensate the unknown aerodynamic forces online and the robust adaptive mechanism to cancel the combination of the overlarge NNs compensation error and the external disturbances, the new robust neural identifier exhibits a better identification performance in the complex flight environment. Moreover, an optimized algorithm is included in the NNs mechanism to alleviate the burdensome online computation. By the strict Lyapunov argument, the asymptotic convergence of the inertial matrix identification error, position tracking error, and attitude tracking error to arbitrarily small neighborhood of the origin is proved. The simulation and implementation results are provided to evaluate the performance of the proposed controller.
KeywordAerial robot inertial matrix identifier neural networks (NNs) robust adaptive control unmanned aerial vehicle (UAV)
DOI10.1109/TNNLS.2015.2406812
URLView the original
Language英語
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Cited Times [WOS]:18   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Guangdong University of Technology
2.Universidade de Macau
Recommended Citation
GB/T 7714
Lai G.,Liu Z.,Zhang Y.,et al. Adaptive Position/Attitude Tracking Control of Aerial Robot With Unknown Inertial Matrix Based on a New Robust Neural Identifier[J]. IEEE Transactions on Neural Networks and Learning Systems,2016,27(1):18-31.
APA Lai G.,Liu Z.,Zhang Y.,&Chen C.L.P..(2016).Adaptive Position/Attitude Tracking Control of Aerial Robot With Unknown Inertial Matrix Based on a New Robust Neural Identifier.IEEE Transactions on Neural Networks and Learning Systems,27(1),18-31.
MLA Lai G.,et al."Adaptive Position/Attitude Tracking Control of Aerial Robot With Unknown Inertial Matrix Based on a New Robust Neural Identifier".IEEE Transactions on Neural Networks and Learning Systems 27.1(2016):18-31.
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