Scipediacontent: Scipediacontent moved page Draft Content 626244705 to Kaijia et al 2016a

2021-02-12T13:41:56Z

Scipediacontent moved page Draft Content 626244705 to Kaijia et al 2016a

Scipediacontent: Created page with " == Abstract == Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensur..."

2021-02-12T13:41:53Z

Created page with " == Abstract == Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensur..."

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== Abstract ==

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

Document type: Article

== Full document ==
<pdf>Media:Draft_Content_626244705-beopen392-6757-document.pdf</pdf>

== Original document ==

The different versions of the original document can be found in:

* [http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf] under the license https://creativecommons.org/licenses/by

* [http://dx.doi.org/10.1155/2016/8407491 http://dx.doi.org/10.1155/2016/8407491] under the license cc-by

* [http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf],
: [http://downloads.hindawi.com/journals/ijae/2016/8407491.xml http://downloads.hindawi.com/journals/ijae/2016/8407491.xml],
: [http://dx.doi.org/10.1155/2016/8407491 http://dx.doi.org/10.1155/2016/8407491] under the license http://creativecommons.org/licenses/by/4.0

* [http://dx.doi.org/10.1155/2016/8407491 http://dx.doi.org/10.1155/2016/8407491],
: [https://doaj.org/toc/1687-5966 https://doaj.org/toc/1687-5966],
: [https://doaj.org/toc/1687-5974 https://doaj.org/toc/1687-5974] under the license http://creativecommons.org/licenses/by/4.0/

* [https://www.hindawi.com/journals/ijae/2016/8407491 https://www.hindawi.com/journals/ijae/2016/8407491],
: [http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf http://downloads.hindawi.com/journals/ijae/2016/8407491.pdf],
: [http://www.i-scholar.in/index.php/ij-ae/article/view/97048 http://www.i-scholar.in/index.php/ij-ae/article/view/97048],
: [https://trid.trb.org/view/1399973 https://trid.trb.org/view/1399973],
: [https://core.ac.uk/display/90269234 https://core.ac.uk/display/90269234],
: [https://academic.microsoft.com/#/detail/2287477093 https://academic.microsoft.com/#/detail/2287477093]

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Kaijia et al 2016a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 626244705 to Kaijia et al 2016a

Scipediacontent: Created page with " == Abstract == Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensur..."