RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs.

Journal: Computational intelligence and neuroscience
Published Date: Aug 19, 2021

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.

Authors

  • Meiling Tao
    Data-driven Intelligent Systems Laboratory, College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China.
  • Xiongxiong He
    Data-driven Intelligent Systems Laboratory, College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China.
  • Shuzong Xie
    Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, Anhui Province, China.
  • Qiang Chen
    School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China.

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