A Novel NN Output Feedback Control Law for Quad Rotor UAV

Abstract

Another NN yield input control law was created for an under incited quad rotor UAV which uses the regular limitations of the under incited framework to create virtual control contributions to ensure the UAV tracks a craved direction. Utilizing the versatile back venturing method, every one of the six DOF are effectively followed utilizing just four control inputs while within the sight of un demonstrated flow and limited unsettling influences. Elements and speed vectors were thought to be inaccessible, along these lines a NN eyewitness was intended to recoup the limitless states. At that point, a novel NN virtual control structure which permitted the craved translational speeds to be controlled utilizing the pitch and the move of the UAV. At long last, a NN was used in the figuring of the real control inputs for the UAV dynamic framework. Utilizing Lyapunov systems, it was demonstrated that the estimation blunders of each NN, the spectator, Virtual controller, and the position, introduction, and speed following mistakes were all SGUUB while unwinding the partition Principle.

Keywords: DOF; Lyapunov Technique; NN; UAV