Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload

Özhan Bingöl; Haci Mehmet Güzey

Kybernetika (2023)

  • Volume: 59, Issue: 5, page 670-699
  • ISSN: 0023-5954

Abstract

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In this study, a generalized system model is derived for interconnected quadrotor UAVs carrying a suspended payload. Moreover, a novel neural network-based sliding mode controller (NSMC) for the system is suggested. While the proposed controller uses the advantages of the robust structure of sliding mode controller (SMC) for the nonlinear system, the neural network component eliminates the chattering effects in the control signals of the SMC and increases the efficiency of the SMC against time-varying dynamic uncertainties. After the controller design is carried out, a comprehensive stability analysis based on Lyapunov theory is given to assure the asymptotic stability of the system. Finally, extensive numerical simulations with detailed comparisons are used to verify the effectiveness of the proposed controller.

How to cite

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Bingöl, Özhan, and Güzey, Haci Mehmet. "Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload." Kybernetika 59.5 (2023): 670-699. <http://eudml.org/doc/299167>.

@article{Bingöl2023,
abstract = {In this study, a generalized system model is derived for interconnected quadrotor UAVs carrying a suspended payload. Moreover, a novel neural network-based sliding mode controller (NSMC) for the system is suggested. While the proposed controller uses the advantages of the robust structure of sliding mode controller (SMC) for the nonlinear system, the neural network component eliminates the chattering effects in the control signals of the SMC and increases the efficiency of the SMC against time-varying dynamic uncertainties. After the controller design is carried out, a comprehensive stability analysis based on Lyapunov theory is given to assure the asymptotic stability of the system. Finally, extensive numerical simulations with detailed comparisons are used to verify the effectiveness of the proposed controller.},
author = {Bingöl, Özhan, Güzey, Haci Mehmet},
journal = {Kybernetika},
keywords = {autonomous UAV; interconnected system; neuro-sliding mode control; payload transportation},
language = {eng},
number = {5},
pages = {670-699},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload},
url = {http://eudml.org/doc/299167},
volume = {59},
year = {2023},
}

TY - JOUR
AU - Bingöl, Özhan
AU - Güzey, Haci Mehmet
TI - Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload
JO - Kybernetika
PY - 2023
PB - Institute of Information Theory and Automation AS CR
VL - 59
IS - 5
SP - 670
EP - 699
AB - In this study, a generalized system model is derived for interconnected quadrotor UAVs carrying a suspended payload. Moreover, a novel neural network-based sliding mode controller (NSMC) for the system is suggested. While the proposed controller uses the advantages of the robust structure of sliding mode controller (SMC) for the nonlinear system, the neural network component eliminates the chattering effects in the control signals of the SMC and increases the efficiency of the SMC against time-varying dynamic uncertainties. After the controller design is carried out, a comprehensive stability analysis based on Lyapunov theory is given to assure the asymptotic stability of the system. Finally, extensive numerical simulations with detailed comparisons are used to verify the effectiveness of the proposed controller.
LA - eng
KW - autonomous UAV; interconnected system; neuro-sliding mode control; payload transportation
UR - http://eudml.org/doc/299167
ER -

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