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An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is develope...

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التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: ul Amin, Rooh, Aijun, Li, Khan, Muhammad Umer, Shamshirband, Shahaboddin, Kamsin, Amirrudin
التنسيق: مقال
منشور في: Elsevier 2017
الموضوعات:
QA75 Electronic computers. Computer science
الوصول للمادة أونلاين:http://eprints.um.edu.my/22866/
https://doi.org/10.1016/j.ymssp.2016.05.043
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id my.um.eprints.22866
record_format eprints
spelling my.um.eprints.228662019-10-26T06:13:07Z http://eprints.um.edu.my/22866/ An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network ul Amin, Rooh Aijun, Li Khan, Muhammad Umer Shamshirband, Shahaboddin Kamsin, Amirrudin QA75 Electronic computers. Computer science In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme. Elsevier 2017 Article PeerReviewed ul Amin, Rooh and Aijun, Li and Khan, Muhammad Umer and Shamshirband, Shahaboddin and Kamsin, Amirrudin (2017) An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network. Mechanical Systems and Signal Processing, 83. pp. 53-74. ISSN 0888-3270 https://doi.org/10.1016/j.ymssp.2016.05.043 doi:10.1016/j.ymssp.2016.05.043
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic QA75 Electronic computers. Computer science
spellingShingle QA75 Electronic computers. Computer science
ul Amin, Rooh
Aijun, Li
Khan, Muhammad Umer
Shamshirband, Shahaboddin
Kamsin, Amirrudin
An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
description In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.
format Article
author ul Amin, Rooh
Aijun, Li
Khan, Muhammad Umer
Shamshirband, Shahaboddin
Kamsin, Amirrudin
author_facet ul Amin, Rooh
Aijun, Li
Khan, Muhammad Umer
Shamshirband, Shahaboddin
Kamsin, Amirrudin
author_sort ul Amin, Rooh
title An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
title_short An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
title_full An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
title_fullStr An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
title_full_unstemmed An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
title_sort adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network
publisher Elsevier
publishDate 2017
url http://eprints.um.edu.my/22866/
https://doi.org/10.1016/j.ymssp.2016.05.043
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score 13.251813

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