The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematic...The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively.Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.展开更多
基金Supported by the National Natural Science Foundation of China(No.11372309,61304017)Science and Technology Development Plan Key Project of Jilin Province(No.20150204074GX)the Science and Technology Special Fund Project of Provincial Academy Cooperation(No.2017SYHZ00024)
文摘The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively.Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.
