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Operations Research, Systems Engineering and Industrial Engineering Commons

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2008

Physical Sciences and Mathematics

Electrical and Computer Engineering Faculty Research & Creative Works

Lyapunov Method

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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Neural Network Output Feedback Control Of A Quadrotor Uav, Jagannathan Sarangapani, Travis Alan Dierks Dec 2008

Neural Network Output Feedback Control Of A Quadrotor Uav, Jagannathan Sarangapani, Travis Alan Dierks

Electrical and Computer Engineering Faculty Research & Creative Works

A neural network (NN) based output feedback controller for a quadrotor unmanned aerial vehicle (UAV) is proposed. The NNs are utilized in the observer and for generating virtual and actual control inputs, respectively, where the NNs learn the nonlinear dynamics of the UAV online including uncertain nonlinear terms like aerodynamic friction and blade flapping. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semi-globally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional ...