INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Adaptive tracking control for a UAV with neural adaptive compensation using SMC
Autor/es:
FRANCISCO ROSSOMANDO; CLAUDIO ROSALES; CARLOS SORIA; DANIEL GANDOLFO; RICARDO CARELLI
Lugar:
Atenas
Reunión:
Conferencia; 2021 International Conference on Unmanned Aircraft Systems (ICUAS); 2021
Institución organizadora:
IEEE
Resumen:
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 wasmade by using Lyapunov theory. The proposal was validated through several simulations where the adaptive features of the controller were proved.
