Neuro sliding mode control of quadrotor UAVs carrying suspended payload

Bingol O.; Guzey H. M.

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Neuro sliding mode control of quadrotor UAVs carrying suspended payload

机译：Neuro sliding mode control of quadrotor UAVs carrying suspended payload

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摘要

In this paper, a neuro-sliding mode controller (SMC) has been designed for a quadrotor transporting a suspended payload. SMCs are very efficient under uncertain conditions. However, if the uncertain dynamics change over time, SMC gains need to be updated to maintain the tracking performance. This study proposes a neuro-SMC to control a quadrotor UAV carrying a suspended payload in the existence of time-varying uncertain dynamics. Once the accuracy of the proposed controller is demonstrated theoretically using the Lyapunov stability criterion, the effectiveness of the proposed controller is shown in simulation, which confirms the theoretical claims.

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《Advanced Robotics: The International Journal of the Robotics Society of Japan》 |2021年第4期|255-266|共12页
作者
Bingol O.; Guzey H. M.;
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作者单位

Gumushane Univ, Dept Elect Elect Engn, Gumushane, Turkey;

Erzurum Tech Univ, Dept Elect Elect Engn, Erzurum, Turkey;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Sliding mode; neural network; quadrotor with payload; nonlinear control;

Neuro sliding mode control of quadrotor UAVs carrying suspended payload

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