Robust neural network‐based backstepping landing control of quadrotor on moving platform with stochastic noise

Abstract

This article introduces a novel nonlinear control approach for quadrotor landing on a moving ship. The dynamics of the relative position and attitude dynamics with uncertainties, unmodeled dynamics, external disturbances, and control input saturation is derived. Then, a novel robust adaptive constrained backstepping control law for the propeller and torques of the quadrotor is designed. To deal with uncertainties and un‐modeled dynamics, radial basis function is employed. The bounded‐in‐probability stability is used to alleviate the destructive influence of the stochastic Wiener process on the system positions and attitudes. Whereas the quadrotor is under‐actuated, a redundant control input technique, which affects the attitude commands, is presented. The actual control input saturation limits are turned into unknown saturation limits of the redundant control inputs. Also, since two phases for the landing problem are considered, a smooth switching mechanism between the control inputs is developed. Simulation results show the merits and applicability of the developed robust adaptive nonlinear controller.

Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors

“…In Reference 33, a robust‐integral‐signum‐error was developed to compensate for the external disturbances. Reference 34 combined neural network with backstepping technique for quadrotor landing. In Reference 35, a robust control algorithm was designed to address to the autonomous landing problem of quadrotor UAV on mobile platform.…”

Bumpless‐transfer‐based fault tolerant control for the quadcopter: Piecewise homogeneous emission probability approach

“…In the academic field, quadcopters as a typical kind of UAVs serve functional experimental platforms for studying the performance of multiple input multiple output control system by virtue of their mathematical characteristics and inherent sophisticated model. On the other hand, quadcopters also have been widely applied in various engineering areas, such as police and military mission, 1 open field exploration, 2 searching and rescue 3 as well as packages delivering, 4 and so forth. Moreover, diverse control methods for quadcopters, such as sliding‐mode control 5 and model predictive control, 6 have been reported recently to improve the performances of quadcopters constantly.…”