کنترل ردیاب کوادروتور با استفاده از کنترل مد لغزشی تطبیقی مبتنی‌بر شبکه‌های عصبی چبیشف

نوع مقاله: علمی-پژوهشی

نویسندگان

دانشکده مهندسی برق، واحد نجف آباد، دانشگاه آزاد اسلامی

چکیده

در این مقاله، روشی برای کنترل کوادروتور براساس کنترل مد لغزشی با استفاده از شبکه‌های عصبی چبیشف پیشنهاد شده است. روش پیشنهادی ترکیبی از روش کنترل مدلغزشی و تخمینگر شبکه عصبی چبیشف می‌باشد که در آن وزن‌های شبکه عصبی به‌صورت بلادرنگ با استفاده از تکنیک‌های کنترل تطبیقی مقاوم به‌روزرسانی می‌شوند. در این پژوهش، مدل دینامیکی کوادروتور به‌منظور کنترل ردیابی وضعیت و زاویه کوادروتور به دو زیرسیستم تقسیم شده است: یک زیرسیستم تحریک کامل و دیگری تحریک نقصانی. برای زیرسیستم اول، سطوح لغزش تنها با استفاده از خطای ردیابی یکی از متغیرهای حالت طراحی می‌شوند و برای زیرسیستم دوم، سطوح لغزش با ترکیب خطی از دو متغیر حالت تعریف می‌شوند. در این مقاله، پایداری سیستم به‌وسیله تکنیک‌های مبتنی بر تئوری لیاپانوف تحلیل می‌گردد و با استفاده از نتایج شبیه‌سازی صحت عملکرد کنترل‌کننده نشان داده خواهد شد.

کلیدواژه‌ها


عنوان مقاله [English]

Tracking Control of Quadrotor by using Adaptive Sliding-Mode Control based on Chebyshev Neural Networks

نویسندگان [English]

  • M. Khashei Varnamkhasti
  • Kh. Shojaei Arani
Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
چکیده [English]

In this paper, a method is proposed for the control of a quadrotor based on sliding mode control by using Chebyshev neural networks. The proposed approach is a combination of the sliding mode controller and the Chebyshev neural network approximator that the neural network weights are tuned in real-time by using robust adaptive techniques. In this research, the dynamic model of the quadrotor is divided into two subsystems for the purpose of the position and orientation tracking control: a fully-actuated subsystem and an underactuated subsystem. For the former, the sliding surfaces are designed by using one state variable, and for the latter, the sliding manifolds are defined by a linear combination of two state variables. In this paper, the system stability is analyzed by Lyapunov theory-based techniques and the accuracy of the controller performance will be illustrated by the simulation results.

کلیدواژه‌ها [English]

  • Quadrotor
  • sliding mode control
  • chebyshev neural networks
  • adaptive control
  • robust control
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