所属单位：自动化学院
发表刊物：Complexity
摘要：In this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsystem. The uncertainty term of the system is handled by the inherent approximation ability of the neural network. The sliding model control scheme under the backstepping frame is developed for tackling disturbances. The stability of the simplified system is proved by using the Lyapunov theory, and the tracking errors are guaranteed to be uniformly bounded. Numerical simulation results show that the proposed control strategy is effective. Copyright © 2018 Min Wan et al.
ISSN号：1076-2787
是否译文：否
发表时间：2018-01-01
合写作者：陈谋,Yan, Kun
通讯作者：万敏
发表时间：2018-01-01