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A Bio-Inspired Global Finite Time Tracking Control of Four-Rotor Test Bench System

Computers, Materials & Continua 2018年第12期57卷 365-388页

作者： Rooh ul Amin irum inayat Li Aijun Shahaboddin Shamshirband Timon Rabczuk School of Automation Northwestern Polytechnical UniversityXi’an710072China Department of Computer Science National University of Computer and Emerging SciencesIslamabad44000Pakistan Department for Management of Science and Technology Development Ton Duc Thang UniversityHo Chi Minh CityVietnam Faculty of Information Technology Ton Duc Thang UniversityHo Chi Minh CityVietnam Institute of Structural Mechanics Bauhaus University Weimar99423WeimarGermany

A bio-inspired global finite time control using global fast-terminal sliding mode controller and radial basis function network is presented in this article,to address the attitude tracking control problem of the three degree-of-freedom four-rotor hover *** proposed controller provides convergence of system states in a predetermined finite time and estimates the unmodeled dynamics of the four-rotor *** model of the four-rotor system is derived with Newton’s force *** unknown dynamics of four-rotor systems are estimated using Radial basis *** bio-inspired global fast terminal sliding mode controller is proposed to provide chattering free finite time error convergence and to provide optimal tracking of the attitude angles while being subjected to unknown *** global stability proof of the designed controller is provided on the basis of Lyapunov stability *** proposed controller is validated by(i)conducting an experiment through implementing it on the laboratory-based hover system,and(ii)through *** of the proposed control scheme is also compared with classical and intelligent *** performance comparison exhibits that the designed controller has quick transient response and improved chattering free steady state *** proposed bioinspired global fast terminal sliding mode controller offers improved estimation and better tracking performance than the traditional *** addition,the proposed controller is computationally cost effective and can be implanted on multirotor unmanned air vehicles with limited computational processing capabilities.

关键词： Bio-inspired global fast terminal sliding mode controller attitude tracking radial basis function network four-rotor hover system

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