现代电子技术2025，Vol.48Issue(5)：135-141,7.DOI:10.16652/j.issn.1004-373x.2025.05.021
基于神经网络的四旋翼无人机环绕跟踪控制
Neural network based encircling tracking control with quadrotor UAV
摘要
Abstract
The target tracking with quadrotor UAV is confronted with parameter uncertainty and external environment disturbance,so a neural network based method for target encircling tracking control with quadrotor UAV is proposed,and an anti-disturbance controller with a three-level closed-loop control structure for target encircling tracking with quadrotor UAV is designed.According to the motion/dynamics model of the quadrotor UAV and the coordinates corresponding to the target under tracking,the basic model of UAV target tracking is established.In combination with the principle of guiding vector field(GVF),a dynamic feedback controller based on GVF is constructed by introducing the position information feedback loop of the quadrotor UAV.An adaptive neural network interference observer based on minimum parameter learning is introduced for online estimation and compensation,so that the influence of aggregate disturbances on the position loop and attitude loop of quadrotor UAV can be eliminated,and a trajectory and attitude tracking controller based on a neural network interference observer is constructed.The effectiveness of the control method is verified by simulation.The simulation results show that the proposed approach can effectively achieve target encircling tracking with quadrotor UAV while exhibiting strong disturbance rejection and robustness.关键词
四旋翼无人机/神经网络/目标跟踪/环绕控制/动态反馈/导航向量场Key words
quadrotor UAV/neural network/target tracking/encircling control/dynamic feedback/GVF分类
信息技术与安全科学引用本文复制引用
谭华,曹志斌,孙山林..基于神经网络的四旋翼无人机环绕跟踪控制[J].现代电子技术,2025,48(5):135-141,7.基金项目
国家自然科学基金项目(61966010) （61966010）
广西重点研发计划基金项目(2021AB33013) （2021AB33013）
广西高校中青年教师科研基础能力提升项目(2022KY0793) （2022KY0793）
