Neuroadaptive Sliding Mode Tracking Control for an Uncertain TQUAV With Unknown Controllers

In this article, a neuroadaptive sliding mode control (NSMC) strategy based on recurrent neural network (RNN) for robustly and adaptively tracking the desired position and attitude of an uncertain tilting quadrotor unmanned aerial vehicle (TQUAV) with unknown controllers is presented. The main contribution of this article is the real-time adjustment of unknown flight controllers using the approximation characteristics of RNN, in which the derived approximation errors of RNN are sufficiently estimated by adaptive control method that can reduce or eliminate the impact of error terms on the evolution of closed-loop systems. Especially, Lyapunov stability analysis is greatly simplified compared to existing methods and does not require amplification or reduction. Finally, the superior performance of the NSMC strategy was verified by comparing simulation results.