Event-triggered finite-time adaptive neural network control for quadrotor UAV with input saturation and tracking error constraints

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2024-10-15 DOI:10.1016/j.ast.2024.109658

Changhui Wang, Wencheng Li, Mei Liang

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引用次数: 0

Abstract

In this article, an event-triggered finite-time adaptive neural network control tracking strategy is proposed for quadrotor unmanned aerial vehicle (UAV) with input saturation and error constraints. Firstly, the radial basis function neural networks (RBFNNs) are adopted to identify the unknown uncertainty of quadrotor UAV model from the installation errors, gyroscope errors and so on. An auxiliary equation is constructed to deal with input physical saturation from the actuator motors. Additionally, by combining the performance function and error transformation, the issue of error constraint is solved. Based on the Lyapunov stability theory and event-triggered mechanisms, a finite-time adaptive neural network scheme is developed to ensure that the closed-loop quadrotor UAV system is semi-globally practically finite-time stable, and save the computation, resources, and transmission load. Finally, the simulation results illustrate the good tracking performance of quadrotor UAV by using the proposed control strategy.

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具有输入饱和度和跟踪误差约束的四旋翼无人飞行器的事件触发式有限时间自适应神经网络控制

本文针对具有输入饱和和误差约束的四旋翼无人飞行器（UAV）提出了一种事件触发有限时间自适应神经网络控制跟踪策略。首先，采用径向基函数神经网络（RBFNN）从安装误差、陀螺仪误差等方面识别四旋翼无人飞行器模型的未知不确定性。此外，还构建了一个辅助方程来处理来自作动器电机的输入物理饱和。此外，通过结合性能函数和误差变换，解决了误差约束问题。基于李亚普诺夫稳定性理论和事件触发机制，开发了一种有限时间自适应神经网络方案，以确保四旋翼无人机闭环系统具有半全局实际有限时间稳定性，并节省计算、资源和传输负载。最后，仿真结果表明，采用所提出的控制策略，四旋翼无人机具有良好的跟踪性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.