Adaptive tracking control for a UAV with neural adaptive compensation using SMC

FRANCISCO ROSSOMANDO; ROSALES, CLAUDIO; CARLOS SORIA; GANDOLFO DANIEL; CARELLI RICARDO

Atenas

Congreso; 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021; 2021

IEEE

This article presents a novel adaptive controller developed for trajectory tracking tasks in UAVs. The controller is based on a parametric adaptive control law combined with the identification of the non-modeled dynamics by a neural network by using a sliding surface. A stability analysis was made by using Lyapunov theory. The proposal was validated through several simulations where the adaptive features of the controller were proved.