Adaptive Control via Backstepping Technique and Neural Networks of a Quadrotor Helicopter (original) (raw)
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Neural Network-based Adaptive Backstepping Controller for UAV Quadrotor system
020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP), 2020
This paper investigates the neural-network-based adaptive control problem for a class of continuous-time nonlinear systems with actuator faults and external disturbances. The model uncertainties in the system are not required to satisfy the norm-bounded assumption, and the exact information for components faults and external disturbance is totally unknown, which represents more general cases in practical systems. An indirect adaptive backstepping control strategy is proposed to cope with the stabilization problem, where the unknown nonlinearity is approximated by the adaptive neural-network scheme, and the loss of effectiveness of actuators faults and the norm bounds of exogenous disturbances are estimated via designed online adaptive updating laws. The developed adaptive backstepping control law can ensure the asymptotic stability of the fault closedloop system despite of unknown nonlinear function, actuator faults, and disturbances. Finally, an application example based on spacecraft attitude regulation is provided to demonstrate the effectiveness and the potential of the developed new neural adaptive control approach.
Study adaptive backstepping control for My quadrotor
Research Square (Research Square), 2023
Flight control for a quadrotor is a complicated task because of the complexity of the flight trajectory program and the uncertain changes in aerodynamic parameters, which make the system more complicated and nonlinear. Flight path angle tracking control consists of varied channels, such as a pitch controller, a roll controller, and a yaw controller. They are usually designed using traditional linear control methods, but this is not always satisfying, hence the more effective approach to controller design is backstepping. The backstepping control laws not only give the controllers certain gain margins but also deal with model errors in the description of aerodynamics. This paper presents a backstepping nonlinear controller design method for control systems involving quadrotors. Simulation results show that the control strategy proposed in this paper is effective and has strong robustness in the presence of disturbances and parameter uncertainty.
Robust neural network control of a quadrotor helicopter
Electrical and Computer …, 2008
This paper proposes a new adaptive neural network control to stabilize a quadrotor helicopter against modeling error and considerable wind disturbance. The new method is compared to both deadzone and e-modification adaptive techniques and through simulation demonstrates a clear improvement in terms of achieving a desired attitude and reducing weight drift.
Journal of Engineering Science and Technology Review, 2014
In this paper, the dynamic model of quadrotor helicopter has been mathematically formulated. Then, an intelligent backstepping controller (IBC) is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Several numerical simulations using the dynamic model of a four degree of freedom (DOF) quadrotor helicopter show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance than established linear design techniques.
Simulation of Backstepping-based Nonlinear Control for Quadrotor Helicopter
2018
The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter together with backstepping-based nonlinear control design which stabilizes the system. In order to verify the feasibility of the proposed controller, extensive simulations are performed using Matlab Simulink software. Here, the proper method to configure the solver options of the model design to provide an efficient and accurate simulation performance is presented. Through simulation test by using the dynamic model of a four degree of freedom quadrotor helicopter, the proposed approach can effectively perform stabilization and trajectory tracking. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance as co...
Backstepping Control for a Quadrotor Helicopter
This paper presents a nonlinear dynamic model for a quadrotor helicopter in a form suited for backstepping control design. Due to the under-actuated property of quadrotor helicopter, the controller can set the helicopter track three Cartesian positions (x, y, z) and the yaw angle to their desired values and stabilize the pitch and roll angles. The system has been presented into three interconnected subsystems. The first one representing the under-actuated subsystem, gives the dynamic relation of the horizontal positions (x, y) with the pitch and roll angles. The second fully-actuated subsystem gives the dynamics of the vertical position z and the yaw angle. The last subsystem gives the dynamics of the propeller forces. A backstepping control is presented to stabilize the whole system. The design methodology is based on the Lyapunov stability theory. Various simulations of the model show that the control law stabilizes a quadrotor with good tracking.
Adaptive Backstepping Tracking Control of a 6-DOF Unmanned Helicopter
This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. Citation: Bin Xian, Jianchuan Guo, Yao Zhang. Adaptive backstepping tracking control of a 6-DOF unmanned helicopter. IEEE/CAA Journal of Automatica Sinica, 2015, 2(1): 19-24
A Novel Nonlinear Backstepping Controller Design for Helicopters Using the Rotation Matrix
IEEE Transactions on Control Systems Technology, 2011
This brief presents a backstepping controller design for helicopters. The controller objective is for the helicopter to autonomously track predefined position and yaw reference trajectories. The incorporation of nested saturation feedback functions in the backstepping design preserves the helicopter's motion and power physical constraints. The intermediate control signals related to the attitude dynamics exploit the structural properties of the rotation matrix and are enhanced with terms that guarantee that the helicopter will not overturn while tracking the desired position trajectory. The attitude dynamics are rendered exponentially stable while the translational dynamics are globally asymptotically stable. Numerical simulations illustrate the applicability of the proposed design.
Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey
Asian Journal of Control, 2018
Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adaptive nonlinear and intelligent control techniques, which have been reported in the literature for designing quadrotor flight controller by various researchers, are investigated in this paper. As a priori, each conventional nonlinear control technique is discussed broadly and then its adaptive/observer based augmentation is conferred along with all possible variants. Among conventional nonlinear control approaches, feedback linearization, backstepping, sliding mode, and model predictive control, are studied. Intelligent control approaches incorporating fuzzy logic and neural networks are also discussed. In addition to adaption based parametric uncertainty handling, various other aspects of each control technique regarding stability, disturbance rejection, response time, asymptotic, exponential and finite time convergence etc., are discussed in sufficient depth. The contribution of this paper is the provision of detailed and in depth discussion on quadrotor nonlinear control approaches to the flight control designers.
Adaptive Fuzzy Tracking Control of Unmanned Quadrotor Via Backstepping
Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on
"This paper presents an adaptive fuzzy control scheme for quadrotor trajectory tracking. A fuzzy system is employed to approximate a model based control law developed using backstepping techniques. The adaptive laws for tuning the adjustable parameters of the fuzzy system are derived based on the Lyapunov synthesis approach. The proposed controller yields asymptotic tracking, while keep the stability of the closed loop dynamics of the quadrotor and boundedness of approximation errors. Numerical simulation results are provided to illustrate the good tracking performance of the proposed adaptive control approach."