Abstract
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. the assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semi globally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. the effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture. © 2009 IEEE.
Recommended Citation
T. Dierks and S. Jagannathan, "Output Feedback Control of a Quadrotor UAV using Neural Networks," IEEE Transactions on Neural Networks, vol. 21, no. 1, pp. 50 - 66, article no. 5345702, Institute of Electrical and Electronics Engineers, Jan 2010.
The definitive version is available at https://doi.org/10.1109/TNN.2009.2034145
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Keywords and Phrases
Lyapunov method; Neural network (NN); Observer; Output feedback; Quadrotor unmanned aerial vehicle (UAV)
International Standard Serial Number (ISSN)
1045-9227
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2010
PubMed ID
19963698
Comments
National Science Foundation, Grant 0621924