TY - GEN
T1 - Trajectory tracking control of a flapping wing micro aerial vehicle via neural networks
AU - He, Wei
AU - Yan, Zichen
AU - Sun, Changyin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - This conference paper figures out the tracking control issue of a flapping wing micro aerial vehicle (FWMAV) subject to uncertain system parameters based on the model in Lagrangian form. As we know, there are many uncertainties in the complex nonlinear system. To deal with this problem, radial basis function neural networks (RBFNNs) are considered to substitute uncertainties of FWMAV model. Through Lyapunov stability analysis, all the control performances of the FWMAV system are guaranteed via selecting the appropriate control variables. The boundedness of system states is achieved. Finally, a series of simulations are realized with MATLAB and show good tracking results via our control methods.
AB - This conference paper figures out the tracking control issue of a flapping wing micro aerial vehicle (FWMAV) subject to uncertain system parameters based on the model in Lagrangian form. As we know, there are many uncertainties in the complex nonlinear system. To deal with this problem, radial basis function neural networks (RBFNNs) are considered to substitute uncertainties of FWMAV model. Through Lyapunov stability analysis, all the control performances of the FWMAV system are guaranteed via selecting the appropriate control variables. The boundedness of system states is achieved. Finally, a series of simulations are realized with MATLAB and show good tracking results via our control methods.
KW - Flapping Wing Micro Aerial Vehicle
KW - Radial Basis Function Neural Network
KW - Robot
KW - State Feedback Control
UR - https://www.scopus.com/pages/publications/84999040046
U2 - 10.1109/ICARM.2016.7606961
DO - 10.1109/ICARM.2016.7606961
M3 - 会议稿件
AN - SCOPUS:84999040046
T3 - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
SP - 443
EP - 448
BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Y2 - 18 August 2016 through 20 August 2016
ER -