Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks

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Khashei Varnamkhasti Mohsen; Shojaei Arani Khoushnam

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Journal: TABRIZ JOURNAL OF ELECTRICAL ENGINEERING Year:2019 | Volume:49 | Issue:4 (90) Page(s): 1591-1601

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Title

Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks

Author(s)

Khashei Varnamkhasti Mohsen | Shojaei Arani Khoushnam | Issue Writer Certificate

Keywords

QuadrotorQ1

sliding mode controlQ2

chebyshev neural networksQ1

adaptive controlQ2

robust controlQ2

Abstract

In this paper, a method is proposed for the control of a Quadrotor based on sliding mode control by using chebyshev neural networks. The proposed approach is a combination of the sliding mode controller and the Chebyshev neural network approximator that the neural network weights are tuned in real-time by using robust adaptive techniques. In this research, the dynamic model of the Quadrotor is divided into two subsystems for the purpose of the position and orientation tracking control: a fully-actuated subsystem and an underactuated subsystem. For the former, the sliding surfaces are designed by using one state variable, and for the latter, the sliding manifolds are defined by a linear combination of two state variables. In this paper, the system stability is analyzed by Lyapunov theory-based techniques and the accuracy of the controller performance will be illustrated by the simulation results.

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APA: Copy

Khashei Varnamkhasti, Mohsen, & Shojaei Arani, Khoushnam. (2019). Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, 49(4 (90) ), 1591-1601. SID. https://sid.ir/paper/404210/en

Vancouver: Copy

Khashei Varnamkhasti Mohsen, Shojaei Arani Khoushnam. Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING[Internet]. 2019;49(4 (90) ):1591-1601. Available from: https://sid.ir/paper/404210/en

IEEE: Copy

Mohsen Khashei Varnamkhasti, and Khoushnam Shojaei Arani, “Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks,” TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, vol. 49, no. 4 (90) , pp. 1591–1601, 2019, [Online]. Available: https://sid.ir/paper/404210/en

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