Aerial Robot Intelligent Control Method Based on Back-Stepping

被引：0
|
作者：
Zhou, Jian [1 ]
Xue, Qian [1 ]
机构：
[1] Xian Polytech Univ, Sch Elect & Informat, Xian, Shaanxi, Peoples R China
来源：
6TH INTERNATIONAL CONFERENCE ON COMPUTER-AIDED DESIGN, MANUFACTURING, MODELING AND SIMULATION (CDMMS 2018) | 2018年 / 1967卷
关键词：
Aerial Robot; Neural Network; Back-stepping control; Particle Swarm Optimization; BACKSTEPPING CONTROL;
D O I：
10.1063/1.5039055
中图分类号：
O59 [应用物理学];
学科分类号：
摘要：
The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.
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页数：8
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