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Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has been proposed in this paper. Feedback linearization is designed to control the attitude stability in inner loop, traditional PID is designed to follow trajectory in accordance with pre-planned...
A fuzzy neural network disturbance observer (FNNDO) is developed and a backstepping adaptive control approach combined with FNNDO is presented for a general class of strict-feedback nonlinear systems with a wide class of uncertainties that are not linearly parameterized and do not have any prior knowledge of the bounding functions. FNNDO is used to approximate the unknown uncertainties online, and...
This paper present a direct adaptive fuzzy approach for a class of single-input-single-output (SISO) unknown non-affine nonlinear systems. A fuzzy logic system (FLS) is employed to approximate unknown plant nonlinearity. To update the adjustable parameters in FLS, a modified projection gradient algorithm is proposed which combines the advantage of projection gradient adaptive law and sigma - modification...
An optimal generalized predictive control (GPC) law is developed for a near-space hypersonic vehicle in reentry flight. The nonlinear disturbance observer (NDO) technique is combined with the control law for the output to track the reference attitude angles and angular velocities in the presence of uncertainties and disturbances. The prediction defined on finite horizon is carried out via Taylor series...
A novel robust adaptive neural control approach is presented for a general class of strict-feedback nonlinear systems with both nonlinear uncertainties and virtual control gain nonlinearities that may not be linearly parameterized. A unified and systematic procedure is employed to derive a robust adaptive tracking controller by using of the backstepping technique and radial basis function neural networks...
This paper proposes a multi-model switching integrated control for a class of nonlinear systems based on terminal sliding mode control and T-S fuzzy control. This class of nonlinear systems has two control loops: the outer loop and inner loop. The resulting controller utilizes two-loop controller and provides robust tracking of the required tracks. First, the required virtual control input is determined...
Predictive control algorithm had been developed rapidly and successfully used in the industrial production practice from the 20th century 70's until now, and the generalized predictive control (GPC) algorithm had been gotten well control effect to the linear or weak nonlinear systems. But there were still difficulties to construct many steps predictive models and its control rules for the strong nonlinear...
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