• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Neural Networks and Learning Systems, IEEE Transactions on >Learning-Based Robust Tracking Control of Quadrotor With Time-Varying and Coupling Uncertainties
【24h】

Learning-Based Robust Tracking Control of Quadrotor With Time-Varying and Coupling Uncertainties

机译：具有时变和耦合不确定性的基于学习的四旋翼鲁棒跟踪控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper, a learning-based robust tracking control scheme is proposed for a quadrotor unmanned aerial vehicle system. The quadrotor dynamics are modeled including time-varying and coupling uncertainties. By designing position and attitude tracking error subsystems, the robust tracking control strategy is conducted by involving the approximately optimal control of associated nominal error subsystems. Furthermore, an improved weight updating rule is adopted, and neural networks are applied in the learning-based control scheme to get the approximately optimal control laws of the nominal error subsystems. The stability of tracking error subsystems with time-varying and coupling uncertainties is provided as the theoretical guarantee of learning-based robust tracking control scheme. Finally, considering the variable disturbances in the actual environment, three simulation cases are presented based on linear and nonlinear models of quadrotor with competitive results to demonstrate the effectiveness of the proposed control scheme.
机译：本文针对四旋翼无人机系统提出了一种基于学习的鲁棒跟踪控制方案。对四旋翼动力学建模，包括时变和耦合不确定性。通过设计位置和姿态跟踪误差子系统，通过涉及相关标称误差子系统的近似最优控制来执行鲁棒的跟踪控制策略。此外，采用了改进的权重更新规则，并在基于学习的控制方案中应用了神经网络来获得名义误差子系统的近似最优控制律。具有时变和耦合不确定性的跟踪误差子系统的稳定性，为基于学习的鲁棒跟踪控制方案提供了理论保证。最后，考虑到实际环境中的可变扰动，基于四旋翼飞机的线性和非线性模型给出了三种仿真案例，并具有竞争性结果，证明了所提出的控制方案的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号