TY - GEN
T1 - Neural adaptive back stepping flight controller for a ducted fan UAV
AU - Aruneshwaran, R.
AU - Wang, Jianliang
AU - Suresh, S.
AU - Venugopalan, T. K.
PY - 2012
Y1 - 2012
N2 - In this paper, we present a neural adaptive back-stepping flight controller for a ducted fan UAV whose dynamics is characterized by uncertainties and highly coupled nonlinearities. The proposed neural adaptive back-stepping controller can handle unknown nonlinearities, unmodeled dynamics and external wind disturbances. A single layer radial basis function network is used to approximate the virtual control law derived using back stepping approach, which provides necessary stability and tracking performances. The neural controller parameters are adapted online using Lyapunov based update laws. The proposed controller is evaluated using nonlinear desktop simulation model of a typical ducted fan UAV performing bop-up maneuver. Three neural adaptive controllers are implemented to handle attitude command altitude hold system, one in each body axis. A separate neural controller is implemented to track the height command for autonomous takeoff and landing. The results indicate that the proposed controller can stabilize the ducted fan UAV and provide necessary tracking performance.
AB - In this paper, we present a neural adaptive back-stepping flight controller for a ducted fan UAV whose dynamics is characterized by uncertainties and highly coupled nonlinearities. The proposed neural adaptive back-stepping controller can handle unknown nonlinearities, unmodeled dynamics and external wind disturbances. A single layer radial basis function network is used to approximate the virtual control law derived using back stepping approach, which provides necessary stability and tracking performances. The neural controller parameters are adapted online using Lyapunov based update laws. The proposed controller is evaluated using nonlinear desktop simulation model of a typical ducted fan UAV performing bop-up maneuver. Three neural adaptive controllers are implemented to handle attitude command altitude hold system, one in each body axis. A separate neural controller is implemented to track the height command for autonomous takeoff and landing. The results indicate that the proposed controller can stabilize the ducted fan UAV and provide necessary tracking performance.
KW - Adaptive Back stepping
KW - Ducted fan
KW - Lyapunov stability
KW - Radial basis function neural networks
UR - http://www.scopus.com/inward/record.url?scp=84872327235&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2012.6358270
DO - 10.1109/WCICA.2012.6358270
M3 - Conference contribution
AN - SCOPUS:84872327235
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2370
EP - 2375
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -