An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system

Rooh Ul Amin; Aijun Li; Hongshi Lu; Jiaxing Li

doi:10.1109/CGNCC.2016.7828850

An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system

Rooh Ul Amin, Aijun Li, Hongshi Lu, Jiaxing Li

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover system. Mathematical model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the system. Sliding mode controller based on adaptive law is designed to achieve chattering free, good attitude tracking control in the presence of modeling uncertainties. The stability of the proposed controller has been proved using the Lyapunov stability theory. Simulation results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID, LQR controllers even without knowing the exact dynamical model.

Original language	English
Title of host publication	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	580-585
Number of pages	6
ISBN (Electronic)	9781467383189
DOIs	https://doi.org/10.1109/CGNCC.2016.7828850
State	Published - 20 Jan 2017
Event	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, China Duration: 12 Aug 2016 → 14 Aug 2016

Publication series

Name	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

Conference

Conference	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Country/Territory	China
City	Nanjing, Jiangsu
Period	12/08/16 → 14/08/16

Access to Document

10.1109/CGNCC.2016.7828850

Cite this

Ul Amin, R., Li, A., Lu, H., & Li, J. (2017). An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (pp. 580-585). Article 7828850 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2016.7828850

Ul Amin, Rooh ; Li, Aijun ; Lu, Hongshi et al. / An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system. CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 580-585 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

@inproceedings{f5d89fde409f49f28a389e42569a4602,

title = "An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system",

abstract = "An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover system. Mathematical model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the system. Sliding mode controller based on adaptive law is designed to achieve chattering free, good attitude tracking control in the presence of modeling uncertainties. The stability of the proposed controller has been proved using the Lyapunov stability theory. Simulation results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID, LQR controllers even without knowing the exact dynamical model.",

author = "{Ul Amin}, Rooh and Aijun Li and Hongshi Lu and Jiaxing Li",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",

year = "2017",

month = jan,

day = "20",

doi = "10.1109/CGNCC.2016.7828850",

language = "英语",

series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "580--585",

booktitle = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

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Ul Amin, R, Li, A, Lu, H & Li, J 2017, An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system. in CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference., 7828850, CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 580-585, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, China, 12/08/16. https://doi.org/10.1109/CGNCC.2016.7828850

An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system. / Ul Amin, Rooh; Li, Aijun; Lu, Hongshi et al.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 580-585 7828850 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system

AU - Ul Amin, Rooh

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AU - Lu, Hongshi

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PY - 2017/1/20

Y1 - 2017/1/20

N2 - An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover system. Mathematical model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the system. Sliding mode controller based on adaptive law is designed to achieve chattering free, good attitude tracking control in the presence of modeling uncertainties. The stability of the proposed controller has been proved using the Lyapunov stability theory. Simulation results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID, LQR controllers even without knowing the exact dynamical model.

AB - An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover system. Mathematical model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the system. Sliding mode controller based on adaptive law is designed to achieve chattering free, good attitude tracking control in the presence of modeling uncertainties. The stability of the proposed controller has been proved using the Lyapunov stability theory. Simulation results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID, LQR controllers even without knowing the exact dynamical model.

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Ul Amin R, Li A, Lu H, Li J. An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 580-585. 7828850. (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). doi: 10.1109/CGNCC.2016.7828850

An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system

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