Learning-Based Robust Tracking Control of Quadrotor With Time-Varying and Coupling Uncertainties

In this paper, a learning-based robust tracking control scheme is proposed for a quadrotor unmanned aerial vehicle system. The quadrotor dynamics are modeled including time-varying and coupling uncertainties. By designing position and attitude tracking error subsystems, the robust tracking control s...

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Veröffentlicht in:	IEEE transaction on neural networks and learning systems 2020-01, Vol.31 (1), p.259-273
Hauptverfasser:	Mu, Chaoxu, Zhang, Yong
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive dynamic programming (ADP) Attitude control Computer simulation Control stability Control systems Control theory Coupling Couplings Fuel consumption Learning learning-based control Neural networks Nonlinear systems Optimal control Quadrotor Robust control robust tracking control Rotors Subsystems time-varying and coupling uncertainties Time-varying systems Tracking control Tracking errors Uncertainty Unmanned aerial vehicles Unmanned helicopters
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