Novel Levenberg–Marquardt based learning algorithm for unmanned aerial vehicles

Publication: Research - peer-reviewJournal article – Annual report year: 2017

Without internal affiliation

DOI

  • Author: Sarabakha, Andriy

    Nanyang Technological University

  • Author: Imanberdiyev, Nursultan

    Nanyang Technological University

  • Author: Kayacan, Erdal

    Nanyang Technological University

  • Author: Khanesar, Mojtaba Ahmadieh

    Semnan University

  • Author: Hagras, Hani

    University of Essex

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In this paper, Levenberg–Marquardt inspired sliding mode control theory based adaptation laws are proposed to train an intelligent fuzzy neural network controller for a quadrotor aircraft. The proposed controller is used to control and stabilize a quadrotor unmanned aerial vehicle in the presence of periodic wind gust. A proportional-derivative controller is firstly introduced based on which fuzzy neural network is able to learn the quadrotor's control model on-line. The proposed design allows handling uncertainties and lack of modelling at a computationally inexpensive cost. The parameter update rules of the learning algorithms are derived based on a Levenberg–Marquardt inspired approach, and the proof of the stability of two proposed control laws are verified by using the Lyapunov stability theory. In order to evaluate the performance of the proposed controllers extensive simulations and real-time experiments are conducted. The 3D trajectory tracking problem for a quadrotor is considered in the presence of time-varying wind conditions.

Original languageEnglish
JournalInformation Sciences
Volume417
Pages (from-to)361-380
Number of pages20
ISSN0020-0255
DOIs
StatePublished - 1 Nov 2017
Externally publishedYes
CitationsWeb of Science® Times Cited: 0

    Keywords

  • Fuzzy neural networks, Levenberg–Marquardt algorithm, Sliding mode control, Type-1 fuzzy logic control, Unmanned aerial vehicle
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