TY - GEN
T1 - The compound control method for pesticide spraying quadrotor UAVs
AU - Liao, Shigang
AU - Lei, Xusheng
AU - Xiao, Yiyi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/3
Y1 - 2019/3
N2 - To realize the high-precision control performance of the nonlinear system with model uncertainties and parameter perturbation, a compound control method is proposed for the pesticide spraying quadrotor unmanned aerial vehicle (UAV). To deal with the influence of pesticide consumption, wind disturbances and disturbance torques, the complementary sliding mode control is used to achieve the robust control of the pesticide spraying quadrotor UAV. Furthermore, an adaptive radial basis function neural network (RBFNN) is proposed to estimate the disturbances and reduce the chattering phenomenon of the complementary sliding mode control. With the Lyapunov theory, the weight matrices of the RBFNN can be updated online. A series of simulations experiments are carried out to validate the effectiveness of the proposed control method.
AB - To realize the high-precision control performance of the nonlinear system with model uncertainties and parameter perturbation, a compound control method is proposed for the pesticide spraying quadrotor unmanned aerial vehicle (UAV). To deal with the influence of pesticide consumption, wind disturbances and disturbance torques, the complementary sliding mode control is used to achieve the robust control of the pesticide spraying quadrotor UAV. Furthermore, an adaptive radial basis function neural network (RBFNN) is proposed to estimate the disturbances and reduce the chattering phenomenon of the complementary sliding mode control. With the Lyapunov theory, the weight matrices of the RBFNN can be updated online. A series of simulations experiments are carried out to validate the effectiveness of the proposed control method.
KW - Online training
KW - The adaptive RBFNN
KW - The complementary sliding mode control
KW - The pesticide spraying quadrotor UAV
UR - https://www.scopus.com/pages/publications/85067867127
U2 - 10.1109/ITNEC.2019.8729482
DO - 10.1109/ITNEC.2019.8729482
M3 - 会议稿件
AN - SCOPUS:85067867127
T3 - Proceedings of 2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2019
SP - 1022
EP - 1027
BT - Proceedings of 2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2019
A2 - Xu, Bing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2019
Y2 - 15 March 2019 through 17 March 2019
ER -