NDLI: Adaptive trajectory tracking control of output constrained multi-rotors systems

Content Provider	IET Digital Library
Author	Zuo, Zongyu Wang, Chenliang
Abstract	The design of output constrained control system for unmanned aerial vehicles deployed in confined areas is an important issue in practice and not taken into account in many autopilot systems. In this study, the authors address a neural networks-based adaptive trajectory tracking control algorithm for multi-rotors systems in the presence of various uncertainties in their dynamics. Given any sufficient smooth and bounded reference trajectory input, the proposed algorithm achieves that (i) the system output (Euclidean position) tracking error converges to a neighbourhood of zero and furthermore (ii) the system output remains uniformly in a prescribed set. Instead of element-wise estimation, a norm estimation approach of unknown weight vectors is incorporated into the control system design to relieve the onboard computation burden. The convergence property of the closed-loop system subject to output constraint is analysed via a symmetric barrier Lyapunov function augmented with several quadratic terms. Simulation results are demonstrated on a quadrotor model to validate the effectiveness of the proposed algorithm.
Starting Page	1163
Ending Page	1174
Page Count	12
ISSN	17518644
Volume Number	8
e-ISSN	17518652
Issue Number	Issue 13, Sep (2014)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/8/13
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0949
Journal	IET Control Theory & Applications
Publisher Date	2014-06-09
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Trajectory Tracking Control Aerospace Control Autonomous Aerial Vehicle Autopilot System Bounded Reference Trajectory Input Closed Loop System Closed-loop System Combinatorial Mathematics Control System Analysis Control System Synthesis Euclidean Position Geometry Lyapunov Method Mobile Robots Neural Network-based Adaptive Trajectory Tracking Control Algorithm Norm Estimation Approach Output Constrained Control System Design Output Constrained Multirotors System Self Adjusting Control System Spatial Variables Control Stability in Control Theory Symmetric Barrier Lyapunov Function Synthesis Method System Output Tracking Error Telerobotics Trajectory Control Uncertain System Unmanned Aerial Vehicle
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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