Neuro sliding mode control of quadrotor UAVs carrying suspended payload

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 st...

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Bibliographic Details
Published inAdvanced robotics Vol. 35; no. 3-4; pp. 255 - 266
Main Authors Bingöl, Ö., Güzey, H. M.
Format Journal Article
LanguageEnglish
Published Taylor & Francis 16.02.2021
Subjects
neural network
nonlinear control
quadrotor with payload
Sliding mode
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Summary: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.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2020.1870557