Adaptive Neural Attitude and Altitude Control of a Quadrotor UAV with External Disturbances via Sliding Mode Control
- Resource Type
- Conference
- Authors
- Ranjan, Sanjeev; Majhi, Somanath
- Source
- 2023 International Conference on Control, Communication and Computing (ICCC) Control, Communication and Computing (ICCC), 2023 International Conference on. :1-6 May, 2023
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Fields, Waves and Electromagnetics
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Adaptive systems
Uncertainty
Attitude control
Heuristic algorithms
Backpropagation algorithms
Disturbance observers
Transient analysis
Neural networks
backpropagation
adaptive sliding mode control
disturbance observer
quadrotor
- Language
Attitude and altitude control of a quadrotor UAV is designed under time-varying external disturbances using an adaptive sliding mode control (ASMC) integrated with a neural network (NN) algorithm. The dynamic model of the quadrotor is computed considering exterior disturbances and parametric variations. A neural network algorithm combined with adaptive sliding mode control is employed to alleviate the chattering effect, and hence improve system performance. The gain parameters of sliding surfaces are accommodated with a backpropagation algorithm. The external disturbance estimation is obtained by using a disturbance observer (DO) which is incorporated with an adaptive sliding mode control. The stability of the proposed control technique is validated using the Lyapunov theory. The performance of the proposed adaptive sliding mode control using a neural network has been assessed and analyzed with other control methods using numerical simulation.