Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle
Joint Authors
Xue, Kaijia
Wang, Congqing
Li, Zhiyu
Chen, Hanxin
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-25
Country of Publication
Egypt
No. of Pages
14
Abstract EN
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.
American Psychological Association (APA)
Xue, Kaijia& Wang, Congqing& Li, Zhiyu& Chen, Hanxin. 2016. Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105044
Modern Language Association (MLA)
Xue, Kaijia…[et al.]. Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-14.
https://search.emarefa.net/detail/BIM-1105044
American Medical Association (AMA)
Xue, Kaijia& Wang, Congqing& Li, Zhiyu& Chen, Hanxin. Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105044
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105044