Murdoch University Research Repository

Welcome to the Murdoch University Research Repository

The Murdoch University Research Repository is an open access digital collection of research
created by Murdoch University staff, researchers and postgraduate students.

Learn more

Robust adaptive neural network-based compensation control of a class of quadrotor aircrafts

Jin, X-Z, He, T., Wu, X-M, Wang, H.ORCID: 0000-0003-2789-9530 and Chi, J. (2020) Robust adaptive neural network-based compensation control of a class of quadrotor aircrafts. Journal of the Franklin Institute . In Press.

Link to Published Version: https://doi.org/10.1016/j.jfranklin.2020.09.009
*Subscription may be required

Abstract

In this paper, the position and attitude trajectory tracking problem of a class of quadrotor aircrafts with bounded external disturbances and state-dependent internal uncertainties is addressed. Neural network (NN)-based methods are adopted to approximate the unknown uncertainties, while adaptive technique is used to estimate the unknown bounds of disturbances. Then, an adaptive compensation control scheme based on neural networks is proposed to compensate for the effects of disturbances and uncertainties. On the basis of Lyapunov stability theorem, bounded trajectory tracking of a position subsystem and asymptotic trajectory tracking of an attitude subsystem can be achieved by using the NN-based adaptive compensation control scheme in the presence of internal uncertainties and external disturbances. A numerical simulation is carried out to verify the effectiveness of the designed control method of quadrotor aircrafts.

Item Type: Journal Article
Murdoch Affiliation: Engineering and Energy
Publisher: Elsevier Ltd
Copyright: © 2020 The Franklin Institute.
URI: http://researchrepository.murdoch.edu.au/id/eprint/58145
Item Control Page Item Control Page