Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

• Record URL:
  https://doi.org/10.1155/2016/8407491
• Supplemental Notes:
  • © 2016 Kaijia Xue et al.
• Authors:
  • Xue, Kaijia
  • Wang, Congqing
  • Li, Zhiyu
  • Chen, Hanxin
• Publication Date: 2016

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References;
• Pagination: Article ID 8407491
• Serial:
  • International Journal of Aerospace Engineering
  • Volume: 2016
  • Publisher: Hindawi Publishing Corporation
  • Serial URL: http://www.hindawi.com/journals/ijae
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Air traffic control; Aircraft noise; Drones; Errors; Rotors; Sliding mode control; Uncertainty
• Uncontrolled Terms: Support vector machines
• Subject Areas: Aviation; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01595605
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 1 2016 2:23PM