Intelligent control system design for UAV using a recurrent wavelet neural network

被引：34
|
作者：
Lin, Chih-Min [1 ]
Tai, Ching-Fu [1 ]
Chung, Chang-Chih [1 ]
机构：
[1] Yuan Ze Univ, Dept Elect Engn, Tao Yuan 320, Taiwan
来源：
NEURAL COMPUTING & APPLICATIONS | 2014年 / 24卷 / 02期
关键词：
Wavelet neural network; Sliding-mode control; Adaptive control; Unmanned aerial vehicle; MOTOR;
D O I：
10.1007/s00521-012-1242-5
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper aims to propose an efficient control algorithm for the unmanned aerial vehicle (UAV) motion control. An intelligent control system is proposed by using a recurrent wavelet neural network (RWNN). The developed RWNN is used to mimic an ideal controller. Moreover, based on sliding-mode approach, the adaptive tuning laws of RWNN can be derived. Then, the developed RWNN control system is applied to an UAV motion control for achieving desired trajectory tracking. From the simulation results, the control scheme has been shown to achieve favorable control performance for the UAV motion control even it is subjected to control effort deterioration and crosswind disturbance.
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页码：487 / 496
页数：10
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