دورية أكاديمية
Neural Network-based Finite-time Control of Nonlinear Systems with Unknown Dead-zones: Application to Quadrotors
| العنوان: | Neural Network-based Finite-time Control of Nonlinear Systems with Unknown Dead-zones: Application to Quadrotors |
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| المؤلفون: | Maaruf, Muhammad, Babangida, Aminu, Almusawi, Husam A., Tamas, Peter Szemes |
| المصدر: | Journal of Robotics and Control (JRC); Vol 3, No 6 (2022): November; 735-742 ; 2715-5072 ; 2715-5056 ; 10.18196/jrc.v3i6 |
| بيانات النشر: | Universitas Muhammadiyah Yogyakarta |
| سنة النشر: | 2022 |
| المجموعة: | Leading & Enlightening Journal UMY (Universitas Muhammadiyah Yogyakarta) |
| مصطلحات موضوعية: | Quadrotor, unmanned aerial vehicle, backstepping control, radial basis function neural network, dead-zone, nonlinear systems |
| الوصف: | Over the years, researchers have addressed several control problems of various classes of nonlinear systems. This article considers a class of uncertain strict feedback nonlinear system with unknown external disturbances and asymmetric input dead-zone. Designing a tracking controller for such system is very complex and challenging. This article aims to design a finite-time adaptive neural network backstepping tracking control for the nonlinear system under consideration. In addition, all unknown disturbances and nonlinear functions are lumped together and approximated by radial basis function neural network (RBFNN). Moreover, no prior information about the boundedness of the dead-zone parameters is required in the controller design. With the aid of a Lyapunov candidate function, it has been shown that the tracking errors converge near the origin in finite-time. Simulation results testify that the proposed control approach can force the output to follow the reference trajectory in a short time despite the presence of asymmetric input dead-zone and external disturbances. At last, in order to highlight the effectiveness of the proposed control method, it is applied to a quadrotor unmanned aerial vehicle (UAV). |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | application/pdf |
| اللغة: | English |
| العلاقة: | https://journal.umy.ac.id/index.php/jrc/article/view/15355/7931Test; https://journal.umy.ac.id/index.php/jrc/article/view/15355Test |
| DOI: | 10.18196/jrc.v3i6.15355 |
| الإتاحة: | https://doi.org/10.18196/jrc.v3i6.15355Test https://doi.org/10.18196/jrc.v3i6Test https://journal.umy.ac.id/index.php/jrc/article/view/15355Test |
| حقوق: | Copyright (c) 2022 muhammad maaruf ; https://creativecommons.org/licenses/by-sa/4.0Test |
| رقم الانضمام: | edsbas.C43753FF |
| قاعدة البيانات: | BASE |
| DOI: | 10.18196/jrc.v3i6.15355 |
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