Gain adaptive sliding mode controller based on interval type-Ⅱfuzzy neural network designed for attitude control for micro aircraft vehicle

作     者：Xiangjian Chen Di Li Zhijun Xu Yue Bai 

作者机构：School of Computer Science and EngineeringJiangsu University of Science and TechnologyZhenjiangJiangsuChina The 723 Institute of China Shipbuilding Industry Corporation(CSIC)YangzhouJiangsuChina Chang Chun Institute of OpticsFine Mechanics and PhysicsChinese Academy of SciencesChangchunChina 

出 版 物：《International Journal of Intelligent Computing and Cybernetics》 (智能计算与控制论国际期刊（英文）)

年 卷 期：2014年第7卷第2期

页      码：209-226页

摘      要：Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to *** purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external ***/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop ***–The validity of the proposed control method has been verified through real-time *** experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external ***/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracki

主 题 词：Flight control Performance Intelligent control Micro aircraft vehicle Attitude stabilization High pointing accuracy 

学科分类：07[理学] 0701[理学-数学类] 070101[070101] 

核心收录：

D　O　I：10.1108/IJICC-03-2012-0010

馆 藏 号：203297100...