Backstepping control for quadrotor with BP neural network based thrust model

机译：基于BP神经网络推力模型的Quadrotor的BackStepping控制

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摘要

This paper presents a nonlinear backstepping control scheme for quadrotor with BP neural network based thrust model. The thrust in quadrotor system is difficult to calculate or measure, so the paper build a BP based thrust model to approximate the mapping between thrust with factors of altitude, voltage and the high level time of PWM. Through the model, the control input for each rotor can be calculate accurately to gain the desired thrust. The controller is designed by backstepping method and verified by Lyapunov stability theorem. Hovering experimental results are presented to show the effectiveness of the proposed controller.

机译：本文介绍了基于BP神经网络的推力模型的四轮压发电机的非线性反向控制方案。 Quadrotor系统中的推力难以计算或测量，因此该纸张构建基于BP的推力模型，以近似推力之间的映射，具有高度，电压和PWM的高级时间的因素。通过该模型，可以准确地计算每个转子的控制输入以获得期望的推力。控制器是由BackStepping方法设计的，并由Lyapunov稳定定理验证。提出了悬停实验结果以显示所提出的控制器的有效性。

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来源
《Youth Academic Annual Conference of Chinese Association of Automation》|2017年|638p|共6页
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作者
Xuerao Wang; Xiaobo Lin; Yao Yu; Qing Wang; Changyin Sun;
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原文格式 PDF
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中图分类 TP2-53;
关键词
Backstepping; Pulse width modulation; Rotors; Lyapunov methods; Biological neural networks; Stability analysis; Mathematical model;

机译：BackStepping;脉冲宽度调制;转子;Lyapunov方法;生物神经网络;稳定性分析;数学模型;

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专利

1. Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network [J] . Chen Zhiming, Niu Kang, Li Lei International journal of aerospace engineering . 2019,第PTa2期

机译：基于Backstepping和Sigma-Pi神经网络的四旋翼自适应轨迹跟踪算法研究
2. Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network [J] . Chen Zhiming, Niu Kang, Li Lei International journal of aerospace engineering . 2019,第PTa2期

机译：基于BackStepping和Sigma-PI神经网络的四足电阻自适应轨迹跟踪算法研究
3. Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network [J] . Zhiming Chen, Kang Niu, Lei Li International journal of aerospace engineering . 2019,第4期

机译：基于BackStepping和Sigma-PI神经网络的四足电阻自适应轨迹跟踪算法研究
4. Backstepping control for quadrotor with BP neural network based thrust model [C] . Xuerao Wang, Xiaobo Lin, Yao Yu, Youth Academic Annual Conference of Chinese Association of Automation . 2017

机译：基于BP神经网络推力模型的四转子反推控制。
5. Multibody Dynamics, Control-Oriented Model, and 6-DOF Motion Control of a Thrust-Vectored Quadrotor [D] . McCown, Tyler Austin. 2021

机译：多体动态，面向控制的模型和6-DOF运动控制的推力矢量化四轮压力机
6. Relationship between Biomechanical Characteristics of Spinal Manipulation and Neural Responses in an Animal Model: Effect of Linear Control of Thrust Displacement versus Force Thrust Amplitude Thrust Duration and Thrust Rate [O] . William R. Reed, Dong-Yuan Cao, Cynthia R. Long, 2013

机译：脊髓操纵的生物力学特征与动物模型中神经反应之间的关系：推力位移与力推力幅度推力持续时间和推力速率的线性控制的影响
7. Fixed-TimeBackstepping Control of Quadrotor Trajectory Tracking Based On Neural Network [O] . Mingyu Wang, Bing Chen, Chong Lin 2020

机译：基于神经网络的四轮压发电机轨迹跟踪的固定回报控制

Backstepping control for quadrotor with BP neural network based thrust model

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