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The coaxial-rotor micro-aerial vehicles (CRMAVs) have been proven to be a powerful tool in forming small and agile manned-unmanned hybrid applications. However, the operation of them is usually subject to unpredictable time-varying aerodynamic disturbances and model uncertainties. In this paper, an adaptive robust controller based on a neural network (NN) approach is proposed to reject such perturbations and track both the desired position and orientation trajectories. A complete dynamic model of a CRMAV is first constructed. When all system states are assumed to be available, an NN-based state-feedback controller is proposed through feedback linearization and Lyapunov analysis. Furthermore, to overcome the practical challenge that certain states are not measurable, a high-gain observer is introduced to estimate the unavailable states, and then, an output-feedback controller is developed. Rigorous theoretical analysis verifies the stability of the entire closed-loop system. In addition, extensive simulation studies are conducted to validate the feasibility of the proposed scheme.
This article was published in the following journal.
Name: IEEE transactions on neural networks and learning systems
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A mechanism of communication with a physiological system for homeostasis, adaptation, etc. Physiological feedback is mediated through extensive feedback mechanisms that use physiological cues as feedback loop signals to control other systems.
A state of elevated cardiac output due to conditions of either increased hemodynamic demand or reduced cardiac oxygen output. These conditions may include ANEMIA; ARTERIOVENOUS FISTULA; THYROTOXICOSIS; PREGNANCY; EXERCISE; FEVER; and ANOXIA. In time, compensatory changes of the heart can lead to pathological form of high cardiac output and eventual HEART FAILURE.
A state of subnormal or depressed cardiac output at rest or during stress. It is a characteristic of CARDIOVASCULAR DISEASES, including congenital, valvular, rheumatic, hypertensive, coronary, and cardiomyopathic. The serious form of low cardiac output is characterized by marked reduction in STROKE VOLUME, and systemic vasoconstriction resulting in cold, pale, and sometimes cyanotic extremities.
A mechanism of communication within a system in that the input signal generates an output response which returns to influence the continued activity or productivity of that system.
A technique to self-regulate brain activities provided as a feedback in order to better control or enhance one's own performance, control or function. This is done by trying to bring brain activities into a range associated with a desired brain function or status.