Adaptive RNN Complementary Sliding Mode Control for Tilting Quadrotor UAV
An adaptive complementary sliding mode control(CSMC)based on recurrent neural network(RNN)is proposed to solve the trajectory tracking problem of tilt quadrotor unmanned aerial vehicle(TQRUAV)flying under unknown disturbances.Firstly,the dynamic system of the TQRUAV is divided into position subsystem and attitude subsystem,and complementary sliding mode controllers are designed sepa-rately.By considering the influence of external disturbances on the flight process of TQRUAV,the ideal con-troller obtained by sliding mode control contains unknown disturbance subjects.Therefore,the RNN is used to estimate the unknown disturbances.Then,in order to reduce the impact of combined estimation errors of RNN and weaken controller chattering,a super-twisting sliding mode control(STSMC)is introduced to de-sign switching controllers.Finally,the effectiveness of the proposed method is verified through simulation.
万方数据
维普
