|
1
|
Neisarian S, Mehdi Arefi M, Abooee A, Yin S. Fast Finite-time Observer-based Sliding Mode Controller Design for a Class of Uncertain Nonlinear Systems with Input Saturation. Inf Sci (N Y) 2023. [DOI: 10.1016/j.ins.2023.02.051] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/17/2023]
|
|
2
|
A Neural Network Based Landing Method for an Unmanned Aerial Vehicle with Soft Landing Gears. APPLIED SCIENCES-BASEL 2019. [DOI: 10.3390/app9152976] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
This paper presents the design, implementation, and testing of a soft landing gear together with a neural network-based control method for replicating avian landing behavior on non-flat surfaces. With full consideration of unmanned aerial vehicles and landing gear requirements, a quadrotor helicopter, comprised of one flying unit and one landing assistance unit, is employed. Considering the touchdown speed and posture, a novel design of a soft mechanism for non-flat surfaces is proposed, in order to absorb the remaining landing impact. The framework of the control strategy is designed based on a derived dynamic model. A neural network-based backstepping controller is applied to achieve the desired trajectory. The simulation and outdoor testing results attest to the effectiveness and reliability of the proposed control method.
Collapse
|