Adaptive neural network backstepping control method for aerial manipulator based on coupling disturbance compensation

被引:12
作者
Li, Hai [1 ]
Li, Zhan [1 ,2 ]
Liu, Jiayu [1 ]
Zheng, Xiaolong [1 ]
Yu, Xinghu [3 ]
Kaynak, Okyay [4 ,5 ]
机构
[1] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Sch Astronaut, Harbin 150001, Peoples R China
[2] Peng Cheng Lab, Dept Math & Theories, Shenzhen 518055, Peoples R China
[3] Ningbo Inst Intelligent Equipment Technol Co Ltd, Ningbo 315201, Peoples R China
[4] Ningbo Univ Technol, Ningbo 315211, Peoples R China
[5] Bogazici Univ, Dept Elect & Elect Engn, TR-34342 Istanbul, Turkiye
来源
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2024年 / 361卷 / 07期
基金
中国国家自然科学基金;
关键词
Aerial manipulator; Coupling disturbance compensation; Adaptive neural network; Multi-source disturbances rejection; SYSTEM;
D O I
10.1016/j.jfranklin.2024.106733
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The aerial manipulator, designed for complex aerial tasks, encounters multifaceted operational environments influenced by various internal and external disturbances. This paper introduces an adaptive neural network backstepping control technique fortified with coupling disturbance compensation to enhance the resilience of the aerial manipulator against these disturbances. Firstly, we propose a cutting -edge coupling disturbance feedforward compensator based on variable inertia parameters, which offers precise and prompt compensation for significant internal coupling disturbances without needing external sensors or alternative disturbance estimation techniques. Subsequently, radial basis function neural networks with an online adaptive weight updating mechanism are designed to estimate and counteract lumped disturbances stemming from unmodeled dynamics, uncertainties, and external factors in real-time. Utilizing the Lyapunov stability criteria, we validate that the aerial manipulator can reliably track desired trajectories under our proposed controller. Experimental results and simulations further underscore the effectiveness and superiority of our control approach.
引用
收藏
页数:18
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