Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV

	Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV
	Peng, C.; Y. Bai; X. Gong; Q. Gao; C. Zhao and Y. Tian
	2015
发表期刊	IEEE/CAA Journal of Automatica Sinica
卷号	2 期号:1
摘要	This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller (BSMC) with adaptive radial basis function neural network (RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances. 2014 Chinese Association of Automation.
文章类型	期刊
收录类别	EI
语种	英语
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/55904
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Peng, C.,Y. Bai,X. Gong,et al. Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV[J]. IEEE/CAA Journal of Automatica Sinica,2015,2(1).
APA	Peng, C.,Y. Bai,X. Gong,Q. Gao,&C. Zhao and Y. Tian.(2015).Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV.IEEE/CAA Journal of Automatica Sinica,2(1).
MLA	Peng, C.,et al."Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV".IEEE/CAA Journal of Automatica Sinica 2.1(2015).

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