基于BSP-ANN的四旋翼无人机轨迹跟踪方法

doi:10.7527/S1000-6893.2018.21924

Abstract

Abstract: To reduce the trajectory tracking error of the UAV and improve the anti-jamming ability of the system, a new trajectory tracking algorithm of the UAV is proposed based on BSP-ANN. A dynamic model for the Quadrotor UAV is given. Based on the Backstepping method, the Sigma-Pi ANN is introduced into the position control system and attitude control system of the Quadrotor UAV. The Sigma-Pi ANN control law is designed, and proving the system's stability in the sense of Lyapunov function. The corresponding simulations are performed using MATLAB. Simulation results show that with the BSP-ANN method, the trajectory tracking performance of the UAV can be improved by reducing the trajectory tracking error, decreasing the tracking time, and improving the anti-interference ability of the system.

Key words: UAV, trajectory tracking, Sigma-Pi, BSP-ANN, backstepping

CLC Number:

V249.1

CHEN Zhiming, NIU Kang, LI Lei, WU Yunhua, HUA Bing. Trajectory tracking method for quadrotor UAV based on BSP-ANN[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(6): 321924-321924.

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Trajectory tracking method for quadrotor UAV based on BSP-ANN

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