Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Abstract

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

Gust Perturbation Alleviation Control of Small Unmanned Aerial Vehicle Based on Pressure Sensor

“…The SUAV's aerodynamic characterization was accomplished with the AVL [18] program package, which can provide the pressure distribution profile. Figure 5 shows the ratio between rolling moment generated by the tail (L tail ) and total rolling moment (L total ) discussed by (3). It reveals that the rolling moment generated by the tail changed drastically when the angle of attack is around 0 degree.…”

“…Researchers and engineers propose hundreds of methods to improve an SUAV's flight performance [2][3][4]. Some researchers get their inspirations from the nature, such as flying creatures like birds and insects which are capable of high-performance flight.…”