Modeling and robust adaptive control for a coaxial twelve-rotor UAV

doi:10.3772/j.issn.1006-6748.2019.02.003

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Modeling and robust adaptive control for a coaxial twelve-rotor UAV
	X.Pei; C.Peng; Y.Bai; H.Wu; P.Ma
刊名	High Technology Letters
	2019
卷号	25 期号:2 页码:137-143
关键词	Adaptive control systems,Aircraft control,Antennas,Attitude control,Backstepping,Controllers,FunctionsRadial basis function networks,Sliding mode control,Uncertainty analysis,Unmanned aerial vehicles (UAV)
ISSN号	10066748
DOI	10.3772/j.issn.1006-6748.2019.02.003
英文摘要	Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests. Copyright by HIGH TECHNOLOGY LETTERS PRESS.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/63120]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	X.Pei,C.Peng,Y.Bai,et al. Modeling and robust adaptive control for a coaxial twelve-rotor UAV[J]. High Technology Letters,2019,25(2):137-143.
APA	X.Pei,C.Peng,Y.Bai,H.Wu,&P.Ma.(2019).Modeling and robust adaptive control for a coaxial twelve-rotor UAV.High Technology Letters,25(2),137-143.
MLA	X.Pei,et al."Modeling and robust adaptive control for a coaxial twelve-rotor UAV".High Technology Letters 25.2(2019):137-143.