Electronics and Electrical Engineering and Control

Trajectory tracking method for quadrotor UAV based on BSP-ANN

  • CHEN Zhiming ,
  • NIU Kang ,
  • LI Lei ,
  • WU Yunhua ,
  • HUA Bing
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  • Micro Satellite Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received date: 2017-12-07

  Revised date: 2018-03-14

  Online published: 2018-03-14

Supported by

National Natural Science Foundation of China (61673212); Aeronautical Science Foundation of China (20150852013); Natural Science Foundation of Jiangsu Province (BK20161490); Program of Shanghai Subject Chief Scientist of China(14XD1423300)

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.

Cite this article

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 . DOI: 10.7527/S1000-6893.2018.21924

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