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

Bingöl, Özhan ; Güzey, Haci Mehmet

Kybernetika, Tome 59 (2023) no. 5, pp. 670-699

Abstract (VO)

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.

Détail

DOI : 10.14736/kyb-2023-5-0670

Classification : 68T40, 93D05, 93D21
Keywords: autonomous UAV; interconnected system; neuro-sliding mode control; payload transportation

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