In:
Computational Intelligence and Neuroscience, Wiley, Vol. 2021, No. 1 ( 2021-01)
Abstract:
In this article, a singularity‐free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity‐free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite‐time convergence without any piecewise continuous function. Then, the adaptive finite‐time control is designed with an auxiliary function to avoid the singularity in the error‐related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite‐time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.
Type of Medium:
Online Resource
ISSN:
1687-5265
,
1687-5273
DOI:
10.1155/cone.v2021.1
DOI:
10.1155/2021/3576783
Language:
English
Publisher:
Wiley
Publication Date:
2021
detail.hit.zdb_id:
2388208-6
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