Adaptive Fuzzy-Neural Network based Decentralized Backstepping Controller for Attitude Control of Quadrotor Helicopter

Guettal, Lemya; Glida, Hossam-Eddine; Chelihi, Abdelghani

doi:10.1109/ccssp49278.2020.9151463

Cited by 4 publications

(4 citation statements)

References 12 publications

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“…Remark 3: Based on an ideal invariant manifold, the filtering calculation of USDE is constructed via adjusting a parameter k, greatly declining design complexity and computational cost compared with the neural approximate-based estimators [7]- [10]. Furthermore, it can be found that the convergence of the estimation error can be guaranteed by adjusting the filter parameters to a relatively small value, thus obtaining a more accurate estimation result than ESO [13]- [16].…”

Section: A Usde Designmentioning

confidence: 99%

“…At present, a great deal of disturbance observers-based control literatures have been reported to resist the external disturbances and modeling uncertainties inherent in quadrotors, including neural network (NN) [7]- [10], extended state…”

Section: Introductionmentioning

confidence: 99%

“…Lyapunov analysis demonstrates that the control system is stable. The primary innovations are summarized as (1) Contrasting to the classical NN approximators [7]- [10], demanding a persistent exciting condition to guarantee the convergence of parameters while holding a complicated calculation process, by formulating a direct mapping between disturbance and the accessible states following filtering operations, a straightforward USDE is introduced to resist the external disturbances with an ensured error decaying and a reduced computational load. In addition, it can get rid of the peaking behaviors appearing in prevalent ESOs [13]- [16].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Zhang

Jing

2022

IEEE Access

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This paper presents an adaptive control scheme via combining with an unknown system dynamics estimator (USDE) for attitude control of quadrotors subject to both parametric uncertainties and external disturbances. The presented controller is designed by effectively merging an adaptive control with an USDE via backstepping, where the extraneous uncertainties are addressed by USDE, and the adaptive law driven by tracking errors accounts for identifying unknown inertial moment constants. The unique characteristic is that a reinforced attitude controlling can be realized benefiting from the separate handling of parametric uncertainties and disturbances via an adaptive updating and a concise disturbance observation, significantly releasing the learning load of USDE and a high gain can be avoided in feedback loops. Meanwhile, Lyapunov analysis demonstrates that all error variables are uniformly ultimately bounded in the closed-loop system. Eventually, simulations substantiate the utility of suggested control strategy.

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Section: A Usde Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Zhang

Jing

2022

IEEE Access

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“…In [19], a new robust controller with robustness to unknown external disturbances and uncertainties was proposed using the adaptive nonsingular fast terminal sliding mode control (ANFTSMC) algorithm. In [20], an adaptive fuzzy neural network (FNN)‐based inverse controller was proposed to improve robustness to parameter uncertainties and external disturbances. However, sliding mode control as a robust control method can suppress the effects of uncertain parameters and external disturbances by making the state of the system slide on the sliding mode surface, but sliding mode control tends to cause system chatter, thus affecting the control effect.…”

Section: Introductionmentioning

confidence: 99%

Uncertainty and disturbance estimator‐based geometry tracking control for quadrotors without linear velocity measurements

Hu,

Miao,

Wang

et al. 2023

Asian Journal of Control

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This paper addresses the trajectory tracking control problem of a quadrotor under uncertain model parameters, external disturbances, and unmeasurable linear velocity. The main contribution of this paper is to present a geometric control strategy with a simple structure and easily adjustable parameters, which combines the differentiator and uncertainty and disturbance estimator techniques to achieve global trajectory tracking control. First, a cascade control framework is introduced to solve the strong coupling and underactuated problems of quadrotors. Furthermore, an antidisturbance outer‐loop differentiator‐based position controller is designed based on the uncertainty and disturbance estimators (UDE) to achieve accurate quadrotor tracking of the desired trajectory. The higher order control inputs of the translational dynamics are estimated using a differentiator to determine the desired angular velocity and its derivative. Then, a robust inner‐loop geometric controller is derived in Lie algebraic space using the rotation matrix. After that, the stability analysis of the closed‐loop system is executed using the Lyapunov stability theory. Finally, the numerical simulation verifies that the method enables the quadrotor to have strong robustness and excellent tracking capability in the presence of large initial angles, time‐varying disturbances, and unmeasured linear velocity.

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Attitude Control for Quadrotors Under Unknown Disturbances Using Triple-Step Method and Nonlinear Integral Sliding Mode

Zhu

Chen

Zhang

2023

IEEE Trans. Ind. Electron.

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Adaptive Fuzzy-Neural Network based Decentralized Backstepping Controller for Attitude Control of Quadrotor Helicopter

Cited by 4 publications

References 12 publications

Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Uncertainty and disturbance estimator‐based geometry tracking control for quadrotors without linear velocity measurements

Attitude Control for Quadrotors Under Unknown Disturbances Using Triple-Step Method and Nonlinear Integral Sliding Mode

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