A Novel Robust Hybrid Control Strategy for a Quadrotor Trajectory Tracking Aided with Bioinspired Neural Dynamics
Source abstract
Abstract
This paper introduces a novel hybrid control strategy for quadrotor UAVs inspired by neural dynamics. Our approach effectively addresses two common issues: the velocity jump problem in traditional backstepping control and the control signal chattering in conventional sliding mode control. The proposed system combines an outer-loop bioinspired backstepping controller with an inner-loop bioinspired sliding mode controller, ensuring smooth trajectory tracking even under external disturbances. We rigorously analyzed the system’s stability using Lyapunov stability theory. To validate our algorithm’s effectiveness, we conducted trajectory tracking experiments in both disturbance-free and step-disturbance conditions, comparing it with the traditional backstepping control, conventional sliding mode control, and saturated sliding mode control. The results demonstrate that our algorithm not only tracks trajectories more effectively but also significantly outperforms these methods in suppressing velocity jumps and signal chattering.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Control and Dynamics of Mobile Robots · Robotic Locomotion and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Hunan Provincial Key Laboratory for Control Technology of Distributed Electric Propulsion Aircraft, Hunan University of Arts and Science, Changde 415000, China
School of Communication and Electronic Engineering, Jishou University, Jishou 416000, China
School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha 410114, China
Funding
National Natural Science Foundation of China · Hunan Province Natural Science Foundation, China · Science and technology innovation Program of Hunan Province · Research Foundation of Education Bureau of Hunan Province, China
References (36)
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