Finite-time trajectory tracking control of quadrotor UAV via adaptive RBF neural network with lumped uncertainties

Rui Ma; Jinjin Han; Li Ding; Rui Ma; Jinjin Han; Li Ding

doi:10.3934/mbe.2023084

Mathematical Biosciences and Engineering

2023, Volume 20, Issue 2: 1841-1855. doi: 10.3934/mbe.2023084

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Research article Special Issues

Finite-time trajectory tracking control of quadrotor UAV via adaptive RBF neural network with lumped uncertainties

College of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, China

Academic Editor: Hamid Reza Karimi

Received: 02 September 2022 Revised: 11 October 2022 Accepted: 17 October 2022 Published: 07 November 2022

The trajectory tracking control of the quadrotor with model uncertainty and time-varying interference is studied. The RBF neural network is combined with the global fast terminal sliding mode (GFTSM) control method to converge tracking errors in finite time. To ensure the stability of the system, an adaptive law is designed to adjust the weight of the neural network by the Lyapunov method. The overall novelty of this paper is threefold, 1) Owing to the use of a global fast sliding mode surface, the proposed controller has no problem with slow convergence near the equilibrium point inherently existing in the terminal sliding mode control. 2) Benefiting from the novel equivalent control computation mechanism, the external disturbances and the upper bound of the disturbance are estimated by the proposed controller, and the unexpected chattering phenomenon is significantly attenuated. 3) The stability and finite-time convergence of the overall closed-loop system are strictly proven. The simulation results indicated that the proposed method achieves faster response speed and smoother control effect than traditional GFTSM.
- UAV,
- trajectory tracking control,
- global fast terminal sliding mode control,
- neural network-based method,
- adaptive control
Citation: Rui Ma, Jinjin Han, Li Ding. Finite-time trajectory tracking control of quadrotor UAV via adaptive RBF neural network with lumped uncertainties[J]. Mathematical Biosciences and Engineering, 2023, 20(2): 1841-1855. doi: 10.3934/mbe.2023084

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Abstract

The trajectory tracking control of the quadrotor with model uncertainty and time-varying interference is studied. The RBF neural network is combined with the global fast terminal sliding mode (GFTSM) control method to converge tracking errors in finite time. To ensure the stability of the system, an adaptive law is designed to adjust the weight of the neural network by the Lyapunov method. The overall novelty of this paper is threefold, 1) Owing to the use of a global fast sliding mode surface, the proposed controller has no problem with slow convergence near the equilibrium point inherently existing in the terminal sliding mode control. 2) Benefiting from the novel equivalent control computation mechanism, the external disturbances and the upper bound of the disturbance are estimated by the proposed controller, and the unexpected chattering phenomenon is significantly attenuated. 3) The stability and finite-time convergence of the overall closed-loop system are strictly proven. The simulation results indicated that the proposed method achieves faster response speed and smoother control effect than traditional GFTSM.

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