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Nonlinear adaptive neural network control for a model-scaled unmanned helicopter

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Abstract

In this paper, a nonlinear adaptive neural network control is proposed for trajectory tracking of a model-scaled helicopter. The purpose of this research is to reduce the ultimate bounds of tracking errors resulted from small coupling forces (or small parasitic body forces) and aerodynamic uncertainties. The proposed control is designed under backstepping framework, with neural network compensators being added. Updating laws of neural networks are designed through projection algorithm, so that adaptive parameters are bounded. Derivatives of virtual controls are obtained through command filters. It is proved that, by using neural network compensators, tracking errors of the closed-loop system can be restricted within very small ultimate bounds. Superiority of the proposed nonlinear adaptive neural network control over a backstepping control is demonstrated by simulation results.

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Acknowledgments

The author owes great thanks to the anonymous reviewers for their insightful comments and suggestions.

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Authors and Affiliations

  1. Department of Electrical, Electronics & Computer Engineering, University of Pretoria, Pretoria, South Africa

    Bing Zhu

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  1. Bing Zhu
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Correspondence to Bing Zhu.

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Zhu, B. Nonlinear adaptive neural network control for a model-scaled unmanned helicopter. Nonlinear Dyn 78, 1695–1708 (2014). https://doi.org/10.1007/s11071-014-1552-5

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  • DOI: https://doi.org/10.1007/s11071-014-1552-5

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