Real-time Trajectory Tracking of a Quadrotor using Adaptive Backstepping Controller and RNN based Uncertainty Observer.
Subhash Chand YogiVibhu Kumar TripathiArchit Krishna KamathLaxmidhar BeheraPublished in: IJCNN (2020)
Keyphrases
- trajectory tracking
- control law
- control system
- closed loop
- real time
- adaptive control
- control strategy
- control scheme
- iterative learning control
- nonlinear systems
- control algorithm
- neural network controller
- visual servoing
- sliding mode
- control method
- control theory
- variable structure
- iterative learning
- tracking error
- physical constraints
- dynamic model
- feedback control
- pid controller
- lyapunov function
- bi directional
- recurrent neural networks
- vision system
- optimal control
- adaptive fuzzy
- fuzzy controller
- dynamical systems
- adaptive neural
- fuzzy control
- stability analysis
- experimental data
- fuzzy logic