Rossomando, Francisco (CONICET - Universidad Nacional de San Juan), Rosales, Claudio (CONICET - Universidad Nacional de San Juan), Soria, Carlos (CONICET - Universidad Nacional de San Juan), Gandolfo, Daniel Ceferino (CONICET - Universidad Nacional de San Juan), Carelli, Ricardo (CONICET - Universidad Nacional de San Juan)

Adaptive Tracking Control for a UAV with Neural Adaptive Compensation Using SMC

Scheduled for presentation during the Regular Session "Neural Networks" (FrB3), Friday, June 18, 2021, 12:20−12:40, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This article presents a novel adaptive controller developed for trajectory tracking tasks in UAVs. The controller is based on a parametric adaptive control law combined with the identification of the non-modeled dynamics by a neural network by using a sliding surface. A stability analysis was made by using Lyapunov theory. The proposal was validated through several simulations where the adaptive features of the controller were proved.