RBFNN‐Based Singularity‐Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs Article Swipe
Meiling Tao
,
Xiongxiong He
,
Shuzong Xie
,
Qiang Chen
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1155/2021/3576783
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1155/2021/3576783
In this article, a singularity‐free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity‐free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite‐time convergence without any piecewise continuous function. Then, the adaptive finite‐time control is designed with an auxiliary function to avoid the singularity in the error‐related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite‐time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.
Related Topics
Concepts
Control theory (sociology)
Singularity
Terminal sliding mode
Inertia
Convergence (economics)
Piecewise
Angular velocity
Sliding mode control
Computer science
Function (biology)
Terminal (telecommunication)
Bounded function
Artificial neural network
Mathematics
Control (management)
Physics
Nonlinear system
Mathematical analysis
Artificial intelligence
Biology
Evolutionary biology
Classical mechanics
Quantum mechanics
Economics
Economic growth
Telecommunications
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1155/2021/3576783
- https://downloads.hindawi.com/journals/cin/2021/3576783.pdf
- OA Status
- hybrid
- Cited By
- 4
- References
- 21
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3195374333
All OpenAlex metadata
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https://openalex.org/W3195374333Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1155/2021/3576783Digital Object Identifier
- Title
-
RBFNN‐Based Singularity‐Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVsWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-01-01Full publication date if available
- Authors
-
Meiling Tao, Xiongxiong He, Shuzong Xie, Qiang ChenList of authors in order
- Landing page
-
https://doi.org/10.1155/2021/3576783Publisher landing page
- PDF URL
-
https://downloads.hindawi.com/journals/cin/2021/3576783.pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
hybridOpen access status per OpenAlex
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https://downloads.hindawi.com/journals/cin/2021/3576783.pdfDirect OA link when available
- Concepts
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Control theory (sociology), Singularity, Terminal sliding mode, Inertia, Convergence (economics), Piecewise, Angular velocity, Sliding mode control, Computer science, Function (biology), Terminal (telecommunication), Bounded function, Artificial neural network, Mathematics, Control (management), Physics, Nonlinear system, Mathematical analysis, Artificial intelligence, Biology, Evolutionary biology, Classical mechanics, Quantum mechanics, Economics, Economic growth, TelecommunicationsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
4Total citation count in OpenAlex
- Citations by year (recent)
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2025: 1, 2024: 1, 2022: 1, 2021: 1Per-year citation counts (last 5 years)
- References (count)
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21Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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