Neural adaptive back stepping flight controller for a ducted fan UAV
Venugopalan, T. K.
Date of Issue2012
World Congress on Intelligent Control and Automation (10th : 2012 : Beijing, China)
School of Electrical and Electronic Engineering
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.
DRNTU::Engineering::Electrical and electronic engineering
© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [DOI:http://dx.doi.org/10.1109/WCICA.2012.6358270].