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- W4386821630 abstract "In this paper, a nonlinear robust fault tolerant tracking control method is proposed for a trirotor unmanned aerial vehicle (UAV) under unknown actuators' abnormal behaviors together with unknown external disturbances. For the tracking control of the typical underactuated system, the inner-outer-loop control method is utilized. For the outer-loop position subsystem, the actuators' anomalies and external disturbances are approximated on the basis of the radial basis function neural network (RBFNN) due to its outstanding function approximation ability and then the state feedback controller is employed for the position loop of the UAV. For the inner-loop attitude subsystem, the robust integral of the signum of the error (RISE) method is utilized to formulate the robust attitude controller to compensate for actuators' anomalies and external disturbances. The stability of the closed-loop system and asymptotic tracking performance are proved via Lyapunov-based stability analysis. Numerical simulations are implemented to validate the performance of the proposed fault tolerant tracking control design." @default.
- W4386821630 created "2023-09-19" @default.
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- W4386821630 date "2023-07-24" @default.
- W4386821630 modified "2023-09-26" @default.
- W4386821630 title "Nonlinear Robust Tracking Control of a Tri-rotor UAV Under Actuators' Abnormal Behaviors and External Disturbances" @default.
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- W4386821630 doi "https://doi.org/10.23919/ccc58697.2023.10239999" @default.
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