Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV

doi:10.3772/j.issn.1006-6748.2018.02.004

CIOMP OpenIR

	Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV
	Qiao, Guanyu; Peng, Cheng
	2018
发表期刊	High Technology Letters
ISSN	10066748
卷号	24 期号:2 页码:142-148
摘要	The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity, higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly, a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances, a robust backstepping sliding mode control (BSMC) with self recurrent wavelet neural network (SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively. Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally, the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments. Copyright by HIGH TECHNOLOGY LETTERS PRESS.
关键词	Aircraft control Attitude control Backstepping Controllers Numerical methods Robust control Sliding mode control Uncertainty analysis Unmanned aerial vehicles (UAV)
DOI	10.3772/j.issn.1006-6748.2018.02.004
收录类别	EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/60582
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	Qiao, Guanyu,Peng, Cheng. Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV[J]. High Technology Letters,2018,24(2):142-148.
APA	Qiao, Guanyu,&Peng, Cheng.(2018).Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV.High Technology Letters,24(2),142-148.
MLA	Qiao, Guanyu,et al."Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV".High Technology Letters 24.2(2018):142-148.

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