Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control s...Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor.展开更多
Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to acc...Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external disturbances.Design/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system.Findings–The validity of the proposed control method has been verified through real-time experiments.The experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external disturbances.Originality/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracking performance than GASMC-TIFNN and CASMC.展开更多
基金Project supported by the National High Technology Development Program of China （Grant No 2002AA303250） and by the National Natural Science Foundation of China （Grant No 60576056）.
文摘Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor.
文摘Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external disturbances.Design/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system.Findings–The validity of the proposed control method has been verified through real-time experiments.The experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external disturbances.Originality/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracking performance than GASMC-TIFNN and CASMC.
