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Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

Yanchao Yin, Hongwei Niu, Xiaobao Liu
2017 Complexity  
A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS) is proposed to design a flight controller for performing the attitude tracking  ...  control of a quad tilt rotors aircraft (QTRA).  ...  Consequently, a nonlinear attitude control system for QTRA aircraft with attitude angles defined as in Figure 2 is studied, where the QTRA is assumed to be a symmetric rigid body with constant mass,  ... 
doi:10.1155/2017/7104708 fatcat:sa6ynxhe6bdcplqw7gshzbv73i

Fault-Tolerant Active Disturbance Rejection Control of Plant Protection of Unmanned Aerial Vehicles Based on a Spatio-Temporal RBF Neural Network

Lianghao Hua, Jianfeng Zhang, Dejie Li, Xiaobo Xi
2021 Applied Sciences  
The control method is based on an active disturbance rejection controller (ADRC) and spatio-temporal radial basis function neural networks, which can be used to achieve the stable control of the system  ...  Firstly, an active disturbance rejection controller with an optimized parameter design is designed for rthe obust control of a multi-rotor vehicle.  ...  of Nanjing University of Aeronautics and Astronautics for equipment support.  ... 
doi:10.3390/app11094084 fatcat:jmakbl7ccvep7ehp6bxngmmziu

Neural-Networks Control for Hover to High-Speed-Level-Flight Transition of Ducted Fan UAV With Provable Stability

Zihuan Cheng, Hailong Pei, Shuai Li
2020 IEEE Access  
To achieve a steady transition from hover to high-speed flight, a neural-networks-based controller is proposed to learn the system dynamics and compensate for the tracking error between the aircraft dynamics  ...  In prior, we derive the nonlinear system model of the aircraft full-envelope dynamics. Then, we propose a novel neural-networks-based control scheme and apply it on the underactuated aircraft system.  ...  Then a novel neural-networks-based control scheme for nonlinear system is proposed. Based on these, a cascade flight control strategy is designed for the transition control of the ducted fan UAV.  ... 
doi:10.1109/access.2020.2997877 fatcat:yqxuunvi7rek5a4bwag5sxdfuq

Helicopter trimming and tracking control using direct neural dynamic programming

R. Enns, J. Si
2003 IEEE Transactions on Neural Networks  
Based on direct neural dynamic programming (DNDP), an approximate dynamic programming methodology, the control system is tailored to learn to maneuver a helicopter.  ...  Though illustrated for helicopters, the DNDP control system framework should be applicable to general purpose tracking control.  ...  Balakrishnan is one of the first to use a form of reinforcement learning (adaptive critic-based networks) for aircraft flight controls [16] .  ... 
doi:10.1109/tnn.2003.813839 pmid:18238071 fatcat:eocuoxredrbw3gd3ykbvhfkfli

Research on Trajectory Tracking Control of Inspection UAV Based on Real-Time Sensor Data

Mingbo Yang, Ziyang Zhou, Xiangming You
2022 Sensors  
For the nonlinear and under-driven characteristics of the inspection UAV system, a double closed-loop control system which includes a position loop and attitude loop is designed.  ...  A PX4 based experimental platform system is built and experimental tests were carried out under outdoor environment.  ...  The four-rotor aircraft is regarded as a rigid body, and its body structure is completely uniform and symmetrical. 2.  ... 
doi:10.3390/s22103648 pmid:35632068 pmcid:PMC9148151 fatcat:u4ldqnbjg5cobngigfbgexwv3e

Research on RBV Control Strategy of Large Angle Maneuver

Jiangtao Xu, Na Luo, Yu Fu, Litong Wang, Xiande Wu
2014 Abstract and Applied Analysis  
And then, using the neural network with single hidden layer approximates the dynamic inversion error for system model uncertainty.  ...  To the high precision and reliable control problem of this vehicle, nonlinear flight control strategy based on neural network robust adaptive dynamic inversion is proposed.  ...  The authors thank Professor CUI Naigang and CHEN Weidong for their help. Also the authors are indebted to CHEN Yangyang, TANG Xiaoping, and ZENG Kui for their continuous help.  ... 
doi:10.1155/2014/718125 fatcat:tc4mgsc475d4bh2wynll7eblwa

Design of Airport Obstacle-Free Zone Monitoring UAV System Based on Computer Vision

Liang Wang, JianLiang Ai, Li Zhang, Zhenlin Xing
2020 Sensors  
The system integrates the functions of identification, tracking, and expelling and is mainly used for low-cost control of balloon airborne objects and small aircrafts.  ...  A design scheme for an airport obstacle-free zone monitoring UAV system based on computer vision is proposed.  ...  Back-Stepping Attitude Controller Design Based on Disturbance Compensation The design and stability analysis of RBFNN and nonlinear disturbance observer in quadcopter trajectory tracking controller, as  ... 
doi:10.3390/s20092475 pmid:32349321 pmcid:PMC7250039 fatcat:4xjxwurphvbcxnxoj47b43jlvi

Adaptive Sliding Mode Robust Control Based on Multi-dimensional Taylor Network for Trajectory Tracking of Quadrotor UAV

GuoBiao Wang
2020 IET Control Theory & Applications  
Different from the controllers based on neural networks, MTN contains only addition and multiplication, which greatly lessens the computational complexity and improves the real-time performance.  ...  In this study, multi-dimensional Taylor network (MTN) inspired sliding mode robust control theory based adaptation laws are proposed to realise trajectory tracking for a quadrotor unmanned aerial vehicle  ...  Treat the aircraft as a rigid body with completely symmetrical structure. 3.  ... 
doi:10.1049/iet-cta.2019.1058 fatcat:ruvllsp4pnfvtg324wc3iiiaza

Research on Intelligent Flight Software Robot Based on Internet of Things

Yibin Hou, Jin Wang
2017 Global Journal of Technology and Optimization  
In order to make life better and more convenient, the research of Internet of Things technology and application, focusing on research based on the Internet of intelligent flight spherical monitoring software  ...  of things embedded technology, simulation technology, large data technology, cloud computing robot, robot autonomy technology and so on.  ...  attitude of the aircraft and effectively control the aircraft under nonlinear and bounded disturbances The University of Texas at Dallas [59] .  ... 
doi:10.4172/2229-8711.1000221 fatcat:64nqg53s7zff7fxiklpdd4biwu

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
Based on Singular- Surface Cost Function G10-013 Minimum-Time Reorientation of a Rigid Body G10-086 Enhanced Collocation Method for Dynamical Systems Subject to Finite Set Control G10-148 Maximum Torque  ...  Spacecraft Attitude Maneuver G10-112_ Lyapunov-Based Exponential Tracking Control of a Hypersonic Aircraft with Aero- thermoelastic Effects G10-031 Sign-Stability Concept of Ecology for Control Design  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter

Rong Li, Qingxian Wu, Qingyun Yang, Hui Ye
2018 Mathematical Problems in Engineering  
The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance  ...  This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint.  ...  Acknowledgments This article was supported by the National Natural Science Foundation of China (nos. 61573184, 61374212), the Fundamental Research Funds for the Central Universities (no.  ... 
doi:10.1155/2018/8410360 fatcat:gnkojsn7wjeibdlh3etynp27py

Adaptive Sliding Mode Controller Design For Attitude Small UAV

Samaneh Amini
2015 IAES International Journal of Robotics and Automation  
In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV.  ...  The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers.  ...  Attitude of a rigid body moving in space is expressed in Euler angles (roll-pitchyaw), based on a body frame as shown in Fig. 1 .  ... 
doi:10.11591/ijra.v4i3.pp219-229 fatcat:iizluzbpa5dxto7uw6xijww4ae

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Sherif I. Abdelmaksoud, Musa Mailah, Ayman M. Abdallah
2020 IEEE Access  
Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods  ...  Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated  ...  [68] demonstrated, experimentally the efficiency of using an adaptive neural network based inverse dynamic control (IDC) for a helicopter system.  ... 
doi:10.1109/access.2020.3031326 fatcat:aae7qfcwvnfr3bwqalbaqggbs4

Novel Method for Identification of Aircraft Trajectories in Three-Dimensional Space

Artur Korgul
2000 Journal of Guidance Control and Dynamics  
in an aerodynamically dissipating environment (i.c., it must be seen as the coupled Hamiltonian system of the moving flat and symmetrical rigid body with its own propulsion and adjacent air flow generated  ...  of the International Conference on Artificial Neural Networks, Springer-Verlag, London, 1993, p. 475 Korgul, A., “Time Delay Neural Network for Target-Intercept Problem Solving, Proceedings of the Sth  ... 
doi:10.2514/2.4670 fatcat:u4xhcgwsxnfcrlemhtcm6nk7q4

Flight Dynamics and Hybrid Adaptive Control of Damaged Aircraft

Nhan T. Nguyen, Kalmanje S. Krishnakumar, John T. Kaneshige, Pascal P. Nespeca
2008 Journal of Guidance Control and Dynamics  
Assuming a flat-earth model for a rigid body aircraft, the force vector in the body-fixed reference frame of the aircraft is 1 = .  ...  Learning rules for adaptive systems based on the Lyapunov method must be guaranteed to be globally stable under all flight conditions with exogenous disturbances such as turbulence and wind shear.  ... 
doi:10.2514/1.28142 fatcat:yrikfjjc4vhc5ltl3jjgvy2y54
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