Event-Based Finite-Time Neural Control for Human-in-the-Loop UAV Attitude Systems

• Published in: IEEE transaction on neural networks and learning systems Vol. 34; no. 12; pp. 10387 - 10397
• Main Authors: Lin, Guohuai, Li, Hongyi, Ahn, Choon Ki, Yao, Deyin
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Attitude control; Attitudes; Autonomous aerial vehicles; Backstepping; Control systems; Convergence; Disturbance observer; Disturbance observers; Dynamical systems; Error compensation; Explosions; finite-time command filtered (FTCF) backstepping; human-in-the-loop (HiTL); Neural networks; Nonlinear dynamics; Nonlinear systems; Radial basis function; radial basis function neural networks (RBF NNs); Rotors; unmanned aerial vehicle (UAV) systems; Unmanned aerial vehicles
• ISSN: 2162-237X; 2162-2388
• DOI: 10.1109/TNNLS.2022.3166531

This article focuses on the event-based finite-time neural attitude consensus control problem for the six-rotor unmanned aerial vehicle (UAV) systems with unknown disturbances. It is assumed that the six-rotor UAV systems are controlled by a human operator sending command signals to the leader. A disturbance observer and radial basis function neural networks (RBF NNs) are applied to address the problems regarding external disturbances and uncertain nonlinear dynamics, respectively. In addition, the proposed finite-time command filtered (FTCF) backstepping method effectively manages the issue of "explosion of complexity," where filtering errors are eliminated by the error compensation mechanism. In addition, an event-triggered mechanism is considered to alleviate the communication burden between the controller and the actuator in practice. It is shown that all signals of the six-rotor UAV systems are bounded and the consensus errors converge to a small neighborhood of the origin in finite time. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme.