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Discrete-Time Adaptive NN Tracking Control of an Uncertain UAV System Based on DTDO

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Robust Discrete-Time Flight Control of UAV with External Disturbances

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 317))

Abstract

Section 4.2 details the problem formulation. In Sect. 4.3, the NN is used to approach the system uncertainties in the UAV attitude dynamics model. A DTDO based on the NN is also designed in Sect. 4.3, and the designed DTDO is used to estimate the external disturbance. Furthermore, according to the tracking differentiator with discrete-time form, the NN-based nonlinear DTDO and the BC technology, a discrete-time controller based on the NN is designed, and discrete-time Lyapunov stability theory is used to prove that the designed discrete-time controller can ensure the boundedness of closed-loop system signals in Sect. 4.3. The UAV attitude dynamic model with wind disturbance and system uncertainties is simulated and analyzed in Sect. 4.4, and the simulation results further illustrate the effectiveness of the proposed discrete-time flight control scheme, followed by drawing some conclusions in Sect. 4.5.

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Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu, Nanjing, China

    Shuyi Shao & Mou Chen

  2. School of Electrical and Electronic Engineering, University of Adelaide, Adelaide, SA, Australia

    Peng Shi

Authors
  1. Shuyi Shao
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  2. Mou Chen
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  3. Peng Shi
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Correspondence to Shuyi Shao .

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Shao, S., Chen, M., Shi, P. (2021). Discrete-Time Adaptive NN Tracking Control of an Uncertain UAV System Based on DTDO. In: Robust Discrete-Time Flight Control of UAV with External Disturbances. Studies in Systems, Decision and Control, vol 317. Springer, Cham. https://doi.org/10.1007/978-3-030-57957-9_4

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