北京航空航天大学学报2026，Vol.52Issue(2)：589-598,10.DOI:10.13700/j.bh.1001-5965.2024.0403
基于自适应神经网络的四旋翼无人机固定时间指令滤波控制
Adaptive neural network based on fixed-time command-filtered control for quadrotor unmanned aerial vehicles
摘要
Abstract
For the quadrotor unmanned aerial vehicle(QUAV)attitude tracking problem under external disturbance and model uncertainty,a fixed-time command-filtered control approach is developed based on the composite adaptive radial basis function(RBF)neural network.Firstly,a fixed-time command filter based on the hyperbolic tangent function is proposed,which avoids the differential explosion problem during the derivation of virtual control and eliminates the singularity phenomena of traditional command filters with fractional order effectively.Secondly,the online approximation impact is enhanced by using a RBF neural network to approximate the model uncertainty and designing the adaptive adjustment law of neural network weights based on the tracking deviation.Additionally,combined with the backstepping method and disturbance observer,a fixed-time control strategy for the QUAV system is established,and the external disturbance is estimated and compensated by the disturbance observer,enabling rapid and accurate tracking of desired attitudes.The stability of the proposed control strategy is rigorously proved via Lyapunov theory.Finally,the effectiveness of the control strategy is verified by numerical simulation.关键词
自适应径向基函数神经网络/固定时间控制/指令滤波/反步法/四旋翼无人机Key words
adaptive RBF neural network/fixed-time control/command-filtered/backstepping method/quadrotor unmanned aerial vehicle分类
航空航天引用本文复制引用
聂黎,李臣亮,刘旺魁,沈海东,刘燕斌,陈金宝..基于自适应神经网络的四旋翼无人机固定时间指令滤波控制[J].北京航空航天大学学报,2026,52(2):589-598,10.基金项目
国家自然科学基金(52402475,52272369) （52402475,52272369）
中国航天科技集团有限公司第八研究院产学研合作基金(SAST2023-007) （SAST2023-007）
中央高校基本科研业务费专项资金(NS2024053) National Natural Science Foundation of China(52402475,52272369) （NS2024053）
the China Aerospace Science and Technology Corporation Eighth Research Institute Industry-University-Research Cooperation Fund(SAST2023-007) （SAST2023-007）
the Fundamental Research Funds for the Central Universities(NS2024053) （NS2024053）
