Neuro sliding mode control of quadrotor UAVs carrying suspended payload. (16th February 2021)

• Record Type: Journal Article
• Authors: Bingöl, Ö.; Güzey, H. M.
• Is Part Of: Advanced robotics. Volume 35:Number 3/4(2021)
• Page Start: 255
• Page End: 266
• Publication Date: 2021-02-16
• Subjects: Sliding mode -- neural network -- quadrotor with payload -- nonlinear control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1870557
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : In this paper, a neuro-sliding mode controller (SMC) has been designed for a quadrotor transporting a suspended payload. SMCs are very efficient under uncertain conditions. However, if the uncertain dynamics change over time, SMC gains need to be updated to maintain the tracking performance. This study proposes a neuro-SMC to control a quadrotor UAV carrying a suspended payload in the existence of time-varying uncertain dynamics. Once the accuracy of the proposed controller is demonstrated theoretically using the Lyapunov stability criterion, the effectiveness of the proposed controller is shown in simulation, which confirms the theoretical claims. GRAPHICAL ABSTRACT: UF0001