Disturbance observer based control of quadrotors with SLFN

Yixin Cheng; Tianyi Shao; Feng Wu; Yuyan Guo; Bin Xu

doi:10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN

Yixin Cheng, Tianyi Shao, Feng Wu, Yuyan Guo, Bin Xu

自动化学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

源语言	英语
主期刊名	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
出版商	Institute of Electrical and Electronics Engineers Inc.
页	5774-5778
页数	5
ISBN（电子版）	9781538611272
DOI	https://doi.org/10.1109/IECON.2017.8217001
出版状态	已出版 - 15 12月 2017
活动	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, 中国期限: 29 10月 2017 → 1 11月 2017

出版系列

姓名	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
卷	2017-January

会议

会议	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
国家/地区	中国
市	Beijing
时期	29/10/17 → 1/11/17

访问文件

10.1109/IECON.2017.8217001

其它文件与链接

链接到 Scopus 的出版物

引用此

Cheng, Y., Shao, T., Wu, F., Guo, Y., & Xu, B. (2017). Disturbance observer based control of quadrotors with SLFN. 在 Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (页码 5774-5778). (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; 卷 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217001

Cheng, Yixin ; Shao, Tianyi ; Wu, Feng 等. / Disturbance observer based control of quadrotors with SLFN. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 5774-5778 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society).

@inproceedings{b362c0fbfdd04883944adb1fc865d5db,

title = "Disturbance observer based control of quadrotors with SLFN",

abstract = "This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.",

keywords = "disturbance observer, fast terminal sliding mode, finite time convergence, quadrotor",

author = "Yixin Cheng and Tianyi Shao and Feng Wu and Yuyan Guo and Bin Xu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 ; Conference date: 29-10-2017 Through 01-11-2017",

year = "2017",

month = dec,

day = "15",

doi = "10.1109/IECON.2017.8217001",

language = "英语",

series = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

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

pages = "5774--5778",

booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

}

Cheng, Y, Shao, T, Wu, F, Guo, Y & Xu, B 2017, Disturbance observer based control of quadrotors with SLFN. 在 Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 卷 2017-January, Institute of Electrical and Electronics Engineers Inc., 页码 5774-5778, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, 中国, 29/10/17. https://doi.org/10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN. / Cheng, Yixin; Shao, Tianyi; Wu, Feng 等.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 5774-5778 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; 卷 2017-January).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Disturbance observer based control of quadrotors with SLFN

AU - Cheng, Yixin

AU - Shao, Tianyi

AU - Wu, Feng

AU - Guo, Yuyan

AU - Xu, Bin

PY - 2017/12/15

Y1 - 2017/12/15

N2 - This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

AB - This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

KW - disturbance observer

KW - fast terminal sliding mode

KW - finite time convergence

KW - quadrotor

UR - http://www.scopus.com/inward/record.url?scp=85046686192&partnerID=8YFLogxK

U2 - 10.1109/IECON.2017.8217001

DO - 10.1109/IECON.2017.8217001

M3 - 会议稿件

AN - SCOPUS:85046686192

T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

SP - 5774

EP - 5778

BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017

Y2 - 29 October 2017 through 1 November 2017

ER -

Cheng Y, Shao T, Wu F, Guo Y, Xu B. Disturbance observer based control of quadrotors with SLFN. 在 Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 5774-5778. (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN

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