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• W2938434711 abstract "In this work, finite time position and heading control based on backstepping based fast terminal sliding mode control is proposed for coaxial octorotor subjected to external wind disturbances. First, mathematical model of the coaxial octorotor is developed and then a new learning-based technique, an extended inverse multi-quadratic radial basis function network (EIMRBFN) is proposed to estimate the unmodeled dynamics of the octorotor. The external disturbance observer is also designed to encompass the realistic disturbance effect in the dynamical model and to allow the controller handle external disturbances, effectively. Backstepping controller based on fast terminal sliding model control is then proposed and also applied on the resultant dynamical model that provides finite time convergence of system's states. The stability of the proposed controller and complete system is analyzed using Lyapunov stability theory. Finite time convergence analysis of the desired trajectory is also provided. Simulations are carried out to validate the effectiveness of the proposed control scheme. Comparison with traditional PID and LQR controllers also verifies that the proposed controller achieves improved performance." @default.
• W2938434711 created "2019-04-25" @default.
• W2938434711 creator A5010235327 @default.
• W2938434711 creator A5021171193 @default.
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• W2938434711 date "2019-05-01" @default.
• W2938434711 modified "2023-10-11" @default.
• W2938434711 title "Finite time position and heading tracking control of coaxial octorotor based on extended inverse multi-quadratic radial basis function network and external disturbance observer" @default.
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• W2938434711 doi "https://doi.org/10.1016/j.jfranklin.2019.03.003" @default.
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