Robust Adaptive Backstepping Control of UAV with Lumped Uncertainties

被引：0
|
作者：
Cao Lijia [1 ]
Hu Xiaoxiang [1 ]
Guo Yang [1 ]
机构：
[1] Xian Res Inst Hitech, Xian, Peoples R China
来源：
2014 INTERNATIONAL CONFERENCE ON MECHATRONICS AND CONTROL (ICMC) | 2014年
基金：
中国国家自然科学基金;
关键词：
robust adaptive control; backstepping; UAV; lumpied uncertaines; FLIGHT CONTROL; CONTROL DESIGN; NONLINEAR-SYSTEMS; TRACKING; VEHICLE;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The design of a robust adaptive backstepping flight control law for a unmanned aerial vehicle (UAV) is discussed. The lumped uncertainties of the nonlinear UAV model are concerned in this paper. RBF neural networks are used inside the backstepping control law to approximate the lumped uncertainties. Command filters are used to implement the virtual control law and avoid "explosion of complexity". The controller and its performance are evaluated on a nonlinear, six-degrees-of-freedom dynamic model of the UAV in the simulations.
引用
收藏
页码：961 / 965
页数：5
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