Geodesic
Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload
Kybernetika, Tome 59 (2023) no. 5, pp. 670-699 Cet article a éte moissonné depuis la source Czech Digital Mathematics Library

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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.
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.
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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     author = {Bing\"ol, \"Ozhan and G\"uzey, Haci Mehmet},
     title = {Design of a neuro-sliding mode controller for interconnected quadrotor {UAVs} carrying a suspended payload},
     journal = {Kybernetika},
     pages = {670--699},
     year = {2023},
     volume = {59},
     number = {5},
     doi = {10.14736/kyb-2023-5-0670},
     mrnumber = {4681017},
     zbl = {07790656},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.14736/kyb-2023-5-0670/}
}
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Bingöl, Özhan; Güzey, Haci Mehmet. Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload. Kybernetika, Tome 59 (2023) no. 5, pp. 670-699. doi: 10.14736/kyb-2023-5-0670

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