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Robust State/Output-Feedback Control of Coaxial-Rotor MAVs Based on Adaptive NN Approach
- Source :
- IEEE Transactions on Neural Networks and Learning Systems; December 2019, Vol. 30 Issue: 12 p3547-3557, 11p
- Publication Year :
- 2019
-
Abstract
- The coaxial-rotor micro-aerial vehicles (CRMAVs) have been proven to be a powerful tool in forming small and agile manned-unmanned hybrid applications. However, the operation of them is usually subject to unpredictable time-varying aerodynamic disturbances and model uncertainties. In this paper, an adaptive robust controller based on a neural network (NN) approach is proposed to reject such perturbations and track both the desired position and orientation trajectories. A complete dynamic model of a CRMAV is first constructed. When all system states are assumed to be available, an NN-based state-feedback controller is proposed through feedback linearization and Lyapunov analysis. Furthermore, to overcome the practical challenge that certain states are not measurable, a high-gain observer is introduced to estimate the unavailable states, and then, an output-feedback controller is developed. Rigorous theoretical analysis verifies the stability of the entire closed-loop system. In addition, extensive simulation studies are conducted to validate the feasibility of the proposed scheme.
Details
- Language :
- English
- ISSN :
- 2162237x and 21622388
- Volume :
- 30
- Issue :
- 12
- Database :
- Supplemental Index
- Journal :
- IEEE Transactions on Neural Networks and Learning Systems
- Publication Type :
- Periodical
- Accession number :
- ejs51720541
- Full Text :
- https://doi.org/10.1109/TNNLS.2019.2911649