Adaptive control with neural networks-based disturbance observer for a spherical UAV

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dc.contributor.authorMatassini, T.
dc.contributor.authorShin, Hyo-Sang
dc.contributor.authorTsourdos, Antonios
dc.contributor.authorInnocenti, M.
dc.date.accessioned2016-11-01T15:34:28Z
dc.date.available2016-11-01T15:34:28Z
dc.date.issued2016-10-03
dc.description.abstractThis paper develops a control scheme for a Spherical Unmanned Aerial Vehicle (UAV) which can be used in complex scenarios where traditional navigation and communications systems would not succeed. The proposed scheme is based on the nonlinear control theory combined with Adaptive Neural-Networks Disturbance Observer (NN-DOB) and controls the attitude and altitude of the UAV in presence of model uncertainties and external disturbances. The NN-DOB can effectively estimate the uncertainties without the knowledge of their bounds and the control system stability is proven using Lyapunov’s stability theorems. Numerical simulation results demonstrate the validity of the proposed method on the UAV under model uncertainties and external disturbances.en_UK
dc.identifier.citationMatassini T, Shin HS, Tsourdos A, Innocenti M, Adaptive Control with Neural Networks-based Disturbance Observer for a Spherical UAV. IFAC-Papers OnLine Volume 49, Issue 17, 2016, Pages 308–313en_UK
dc.identifier.issn2405-8963
dc.identifier.urihttp://dx.doi.org/10.1016/j.ifacol.2016.09.053
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/10920
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectSpherical UAVen_UK
dc.subjectmodel uncertainties and external disturbancesen_UK
dc.subjectdisturbance observeren_UK
dc.subjectadaptive controlen_UK
dc.subjectneural networksen_UK
dc.titleAdaptive control with neural networks-based disturbance observer for a spherical UAVen_UK
dc.typeConference paperen_UK

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