Anti-disturbance Control of Flapping-Wing Micro Aerial Vehicle with Uncertainty
In this paper,the attitude and position tracking control of Flapping-Wing Micro Aerial Vehicle(FW-MAV)with internal uncertainties and external disturbance was studied.A neural network is designed to approximate and to estimate the complex nonlinearity and uncertainties in the mathematical model of FWMAV.Meanwhile,this pa-per used adaptive technology to counteract the adverse effects of external disturbance.Based on the backstepping re-cursive framework,it can design a dynamic surface controller by introducing a first-order filter,which overcomes the limitation of"differential explosion"in traditional backstepping recursive design.Then,a Lyapunov function was pro-posed to prove the closed-loop system stability and the semi-global uniform ultimate boundedness of all state varia-bles.The results show that the proposed controller can not only make the steady-state error converge better,but also improve the convergence speed.Simulation results indicate that the control method can effectively deal with the uncer-tainties and external disturbances and can track the desired trajectories well.
Automatic controlFlapping-wing micro aerial vehicle(FWMAV)Neural networkAdaptive controlBackstepping control
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