To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt ...To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper.First,a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-r...A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper.First,a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-rotor,which is found to be highly nonlinear and coupled.Then,the equivalent input a±ne model is extracted by applying a suitable transformation.Finally,the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances,parametric uncertainties,and modeling errors.The proposed controller performance has been veri¯ed for appropriate inputs under wind disturbances using MATLAB,and the simulation results are presented.展开更多
文摘To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.
文摘A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper.First,a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-rotor,which is found to be highly nonlinear and coupled.Then,the equivalent input a±ne model is extracted by applying a suitable transformation.Finally,the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances,parametric uncertainties,and modeling errors.The proposed controller performance has been veri¯ed for appropriate inputs under wind disturbances using MATLAB,and the simulation results are presented.
