Trajectory tracking method for quadrotor UAV based on BSP-ANN

Affiliation of Author(s):航天学院

Journal:Hangkong Xuebao

Abstract:To reduce the trajectory tracking error of the UAV and improve the anti-jamming ability of the system, a new trajectory tracking algorithm of the UAV is proposed based on BSP-ANN. A dynamic model for the Quadrotor UAV is given. Based on the Backstepping method, the Sigma-Pi ANN is introduced into the position control system and attitude control system of the Quadrotor UAV. The Sigma-Pi ANN control law is designed, and proving the system's stability in the sense of Lyapunov function. The corresponding simulations are performed using MATLAB. Simulation results show that with the BSP-ANN method, the trajectory tracking performance of the UAV can be improved by reducing the trajectory tracking error, decreasing the tracking time, and improving the anti-interference ability of the system. © 2018, Press of Chinese Journal of Aeronautics. All right reserved.

ISSN No.:1000-6893

Translation or Not:no

Date of Publication:2018-06-25

Co-author:牛康,lilei,wyh,hb

Correspondence Author:Chen Zhiming

Date of Publication:2018-06-25