Neural adaptive flight controller for ducted-fan UAV performing nonlinear maneuver

R. Aruneshwaran, S. Suresh, Jianliang Wang, T. K. Venugopalan

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

19 Citations (Scopus)

Abstract

This paper presents a neural adaptive flight controller for ducted fan UAVs which are capable of vertical takeoff and landing(VTOL). These ducted fan propulsion systems pose great challenges in aerodynamics and control and we propose a backstepping neural adaptive control law to track its nonlinear dynamics. This controller can handle unmodeled dynamics and external disturbances as well, providing stability to the vehicle. A single layer radial basis neural network is used to approximate the unmodeled dynamics and vehicle stability is guaranteed through Lyapunov synthesis. For simulation study six degree of freedom model (6-DOF) is implemented in MATLAB along with the proposed control approach. The performance of the controller is evaluated using nonlinear bop-up maneuver and the necessary stability and tracking performance of the UAV have been investigated.

Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE Symposium on Computational Intelligence for Security and Defense Applications, CISDA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013
Pages51-56
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE Symposium on Computational Intelligence for Security and Defense Applications, CISDA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013 - Singapore, Singapore
Duration: 16 Apr 201319 Apr 2013

Publication series

NameProceedings of the 2013 IEEE Symposium on Computational Intelligence for Security and Defense Applications, CISDA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013

Conference

Conference2013 IEEE Symposium on Computational Intelligence for Security and Defense Applications, CISDA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013
Country/TerritorySingapore
CitySingapore
Period16/04/1319/04/13

Keywords

  • Adaptive Back stepping
  • Ducted fan
  • Lyapunov stability
  • Radial basis function neural networks

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Safety, Risk, Reliability and Quality

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