Advanced Robotics, 2014

Vol. 28, No. 17, 11511164, http://dx.doi.org/10.1080/01691864.2014.913498

FULL PAPER
Adaptive neural network control based on neural observer for quadrotor unmanned aerial vehicle
Hana Boudjedira*, Omar Bouhalia and Nassim Rizougb
a

MecaTronic Laboratory LMT, Jijel University, Jijel, Algeria; Mecatronic Lab, ESTACA School, Laval, France
(Received 25 January 2013; fnal version received 5 December 2013; accepted 24 February 2014)
This paper proposes an adaptive neural network control with neural states observer for quadrotor. The adaptive approach
is used to solve the dynamics uncertainty problem of the controller. To perform the control, a Single Hidden Layer Neural
Network (SHLNN) is used. Based on the structure of Sliding Mode Observer (SMO), a new neural observer is proposed to
estimate the states. The aim of this work is to propose an observer insensitive to the measurement noise. The stability
proof of global system is made by Lyapunov direct method. The adaptation laws of both artifcial neural networks (ANNs)
are derived from Lyapunov theory. The proposed controller is validated by simulation on the quadrotor under
measurement noise conditions. A comparative study with SMO is made to highlight the performances of the proposed
neural observer.
Keywords: adaptive control; neuronal control and observer; noise rejection; quadrotor; sliding mode observers

1. Introduction
In the last years, the Unmanned Aerial Vehicle (UAV)
emerged widely in both civil and military areas.[1,2]
The quadrotor has some advantages over, single, dual,
and tri-rotor helicopters. It can offer an enhanced
stability and a high lifting capacity. For these reasons,
quadrotor has received much interest in UAV research.
Quadrotor is composed of four rotors in crossconfguration. It is an underactuated system with six
degrees of freedom DOF and four inputs only. To deal
with this property many techniques have been
proposed. Madani et al. and Dieks et al. propose the
control of the three Cartesian positions and the yaw
angle by the indirect use of pitch and roll angles as
controller.[3,4] On the other hand, Nagaty et al. and
Bouadi et al. study the implementation of the
backstepping and sliding-mode controls.[5,6] Another
sliding-mode control algorithm with noisy observations
is given by Onder Efe et al. [7]. The altitude is
controlled by the lift force and the 2D displacement (x
and y) is controlled by the desired trajectories in rolling

system is under a minor perturbation. Another

application to PID technique for attitude and altitude
control is done by Oosedo et al. [9]. Castillo et al.
present the backstepping to control yaw and vertical
motions in [10]. The other outputs are controlled by an
algorithm based on nested saturations. However, all
these techniques require an exact knowledge of
dynamic model and the all-state vector. But, this
information is not always available.[511]
Adaptive control theory offers a solution to the
problem of unknown dynamics. This technique is
defned as a controller with variable parameters.[12]
In the classic adaptive control, the dynamic model is
expressed by a product between two matrices. The
frst one holds the known parts of the dynamic model
and the second holds the unknown parameter.[12,13]
However, this technique is applicable for linear system
[13] or non-linear system with poor complexities.[12]
Based on the universal approximation theorem,[14]
many neural adaptive schemes have been proposed to
deal with complex nonlinear systems. Das et al. apply

*Corresponding author. Email: hana_boudjedir@uniiv-jijel.dz

2014 Taylor & Francis and The Robotics Society of Japan

and pitching. A comparative study between the PID and

LQ techniques for attitude stabilization is proposed by
Bouaddallah et al. [8].This study shows poor results
given by the LQ technique, due to the model
imperfections. On the other hand, the PID controller
was able to control the Euler angles even when the

the backstepping approach to the Lagrangian form of

quadrotor dynamics.[15] Two artifcial neural
networks (ANNs) with one layer are introduced to
estimate the aerodynamic forces and moments.
Raimundez
and
Villaverde
propose
the
implementation of SHL network in the adaptive

Advanced Robotics
1152
scheme.[16] For Nicol et al. The control law is based
observer for quadrotor stabilization. This adaptive
on the feedback linearization technique. In order to
controller is composed of six SHL network for the
prevent NN weights drift, two Radials Basis Functions
online estimation of the equivalent control of each
(RBF) are implemented in a parallel structure to
quadrotors subsystem. To overcome the measurement
estimate the same unknown nonlinear function.[17]
noise and/or unavailable states, a new neural observer
Dieks and Jagannathan use the ANNs to perform
is proposed. The adapted laws used for the on-line
several roles.[18] The ANNs were used to estimate
adjustment of ANNs (controller and observer) are
online virtual control, dynamical model, and velocities
derived from direct Lyapunov stability theory.
of the quadrotor UAV. An adaptive control law based
This paper is organized as follows: Section 2
on spherical coordinates was proposed by Dieks and
describes quadrotor dynamical model. The control
Jagannathan [4] using ANN to approximate quadrotor
problem formulation is presented in Section 3. In
dynamical model and virtual control inputs.
Section 4, an adaptive neural network controller using
SMO is given. The new neural observer is developed in
The Inertial Measurement Units (IMU) are widely
Section 5 and the stability of global system
emerged for quadrotor.[19,20] Hence, the Micro(controller/observer) is proved. Section 6 presents the
ElectroMechanical Systems (MEMS) IMUs are small,
simulation result of adaptive control using both
light, yet still powerful.[20] An IMU typically involve a
observers (SMO and proposed neural observer) under
three-axis gyroscope and a three-axis accelerometer,
noise measurement condition. Then a comparative
which provide linear accelerations and angular rates
study is done to highlight the proposed neural observer.
only [1925] which requires an estimation mechanism.
The conclusion is given in Section 7.
However, the result of this sensor is accompanied by a
big measurement noise.[19,20] Angular rate output
from gyroscopes is integrated to obtain altitude, which
2. Quadrotor dynamics
implies the amplifcation of the measurement noise.
The quadrotor is composed of four propellers in cross
[19,26,27] The accelerometers are very sensible to
confguration (Figure 1). The two pairs of propellers
linear accelerations and motors vibration [23,28] that
(1, 3) and (2, 4) turn in opposite directions in order to
linear acceleration measurement is too noisy.
avoid that the quadrotor turns on itself.
Since, for many practical problems we cannot
The vertical motion is produced by increasing
measure all state variables; an observer should be used
(reducing) the speed of the four motors at the same
to estimate states from the output measurements. The
time. Create a difference between the speeds of the
observer can be used to estimate quadrotors velocities.
2nd and the 4th rotor produces the roll rotation
[4,18] The correction term of the observer is composed
coupled with lateral motion. The same principle is
of two parts. The frst one is proportional to observation
applied to obtaining Pitch motion but in this case, the
errors and the second one is the output of an ANN. In
speed difference is created between front and rear
order to estimate angular positions and speeds, an
rotors (1 and 3). Yaw motion is obtained by increasing
observer based on TakagiSugeno model is developed
(decreasing) the speed of the front and rear motors
in [29]. A High Gain Observer (HGO) is synthesized by
while decreasing (increasing) the speeds of the lateral
Guisser and Medromi [30] to estimate roll and pitch
motors.
angles and all velocities. Benallegue et al. introduce a
By using the NewtonEuler formalism [8] and by
High-Order Sliding Mode Observer (HOSMO) to
assuming that the quadrotor has a symmetrical
estimate states and external disturbances.[31] An
structure, the thrust and the drag forces are
Extended Kalman Filter can be used to estimate
proportional to the square of the rotors speed, the
quadrotor state.[24,25,3234] A SMO is implemented
dynamic model of quadrotor can be expressed as:
by Mokhtari et al. [35].However, the SMO is known by
its robustness and its sensibility to measurement noise.
To treat this problem, several techniques are developed
>8u uIxu Iy Ix Izw_h_ JrIXx r h_
in the literature. A sigmoid function with a variable
kIfrxx u_ 2
boundary layer is used for the SMO.[36] This last one
is used with adaptive observer gain.[37,38] This
solution is used mostly for HGO.[39,40] Hajatipour and
Farrokhi [41] and Kalyana et al. [42] give us another
solution. The HGO and the SMO are used to separate
>>>>>>>>>h uIyh Iz Iy Ixw_u_
fast and slow signals.
JrIXy r u_ kIfryy h_2
This work proposes a controller design of an
>
adaptive neural network control based on a new neural

Advanced Robotics
1153
2.1. Virtual control
>><>>>w uIwz Ix Iz Iyu_h_ kIfrzz w_2 (1)
The dynamical model presented in (1) shows that the
quadrotor is constituted of six outputs u h w x y zT
T

>>

>>>> x m1m1 CwwShhCuu

SuuSwwu11 kftyftx x_

>>>>>>>>:>y
u k y_

m1 ShSuC 1

S ftzC

which are controlled by four inputs uu uh uw u1 only.

To deal with the underactuated part (Cartesian
positions), u1, and are used to create three virtual
control inputs so that every output will be controlled
separately. Those virtual controls are given by:

ux CwShCu
SuSwu1 <uy

>z

C C u k z_ g

SwShCu SuCwu1 (3) :uz ChCu u1

Physically, these virtual controls mean that the
translation motion along x, y, and z are controlled
indirectly by the three common inputs (u 1, , and ). In
other words, the lift force, rolling, and pitching motions
must take a desired trajectory to guarantee the control
task of the all translation motions.
The desired trajectories of roll (d), pitch (d), and
u1d are obtained by inversing (3):
uS

>8><>ud
Figure 1.

uuwy2ydCuwyz2d

Model of a typical quadrotor.

arcsinpwxd ufwxd2xz

>

where n x y zT: position vector in space, g

u h wT: roll, pitch, and yaw angles, J = diag
(Ix, Iy, Iz): inertia matrix, m: quadrotor mass, k p: thrust
factor, kd: drag factor, Kft = diag(kftx, kfty, kftz), drag
translation matrix, Kfr = diag(kfrx, kfry, kfrz): friction
aerodynamic coeffcients, Xr P4i1 1i1xi, i:
angular velocities, and u1, u, u, u are the control
inputs, and their expressions according to the angular
velocities are given by:
2uuu1 3 2 k0p
kp
kp kp
(2)
x21
0
lkp
lkp 32x22 3
0
6664uuwh 7775 kd
6664klkd p

lkp
kd

0 776x2

kd 75664x234
7775
The expression C and S is an abbreviation of cos()
and sin(), respectively.

>hd

S u

arctan

>>>>>: u1d

(4)

quf

2x

u2y u2z

Figure 2 shows the global system (quadrotor with

virtual control) with six inputs/six outputs.
3. Problem formulation
The dynamical model of the global system (quadrotor
and virtual control) is composed of six differential
equations which have the following form:

1154

H. Boudjedir et al.
d

r i1

si

ki ei;ki [ 0;

i1:p

(8)

dt

Figure 2.

Quadrotor with virtual control.

Yiri fiX giXui; i 1 : p

(5)

The defned expression in (8) implies that the

convergence to zero of ei ei; e_i;; eiri1 is achieved if
the fltered error si is equal to zero.[12] So, the control
task in this work is abridged in the synthesis of a
control law that allows the convergence to zero of the
fltered error si. The time derivative of (8) can be
written as:
s_i vi fiX giXui;

The state space representation is given by:

i1:p

(9)

where
8x_ij
Ri
1

<

xij1;
x_iri fiX giXui ;i 1 : p; j
: ri

>

:Yi xi;1 bi

:8<>tijvi YdiririP1jri!11 tij

ekirjij ij

11 :: pri 1

(10)

(6)
where p is the subsystem number (p = 6 for quadrotor),
X Y1 Y1r11 Yp Yprp1T state space
T T vector, U u1 up
input vector, Y Y1 Yp output vector, fi(X
) and gi(X )
are smooth continuous unknown nonlinear functions and bi is the measurement noise which
is assumed to be an additive White Gaussian Noise
(WGN).[21,24,32,4346]
Some assumptions are considered in this paper:

Assumption 1: The output vector Y is available for

measurement.
Assumption
trajectory

i!j

1!

Equations (8) and (9) can be rewritten under this form:

si UiiEi;

s_i eir U0i Ei: i

1:p

(11)

With
Ui ti;1 ti;ri1 i 1; i

1:p

(12) U0i 0 ti;1 ti;r 1 :

2: The desired output

Ydi i 1 : p and
are

ri

its

And Ei is the error state vector of (5) which is given by:

Ei ei e_i eiri1T;

derivatives

smooth and bounded.

Assumption 3: The gain gi(X) is positive defnite

Let the tracking error be defned as:

ei Ydi Yi;
and the fltered tracking errors as:

i1:p

(13)

From (9), the ideal control law that guarantees the

closed-loop performance is defned by:
ui ueqi updi

and slowly time varying and bounded.

i1:p

i1:p

(14)

where ueqi and updi are the ideal equivalent and PD

(7)

controllers, respectively, their expressions are given by:

ueqi gi1Xvi fiX
And updi ki si ki Ui Ei;

ki [ 0

(15)
(16)

Advanced Robotics
1155
approximate any smooth, non-linear, and unknown
function.[14]
The ideal approximation of (15) by a Single Hidden
s_i gi Xki si;
) si s_i 0; i 1 : p (17)
Layer Neural Network (SHLNN) (Figure 3) is:
Which implies that si0, t, and
therefore
ueqi WiTrViTvi ei
(22)

By Substituting (14) into (9), we obtain:

eij ! 0 j 0 : ri 1; i 1 : p, t.[12]
According to the above analysis, the control law
(14) is easily obtained if the non-linear functions f i(X )
and gi(X ) are known and the state vector X is
measured. However, these non-linear functions and the
state vector are assumed to be unknown. So, the above
method cannot be applied directly. To overcome this
problem, 12 feed-forward ANNs are used in the
proposed control scheme. The frst six ANNs are
exploited to estimate the equivalent controller defned
in (15). The other six ANNs are implemented for the
proposed observer in order to reproduce the unavailable
states.

Assumption 4: WiF Wi,m, ViF Vi,m with

Wi,m and Vi,m are unknown positive constants.
vi Ydiri Ydiri1 Ydi eiri1 eiri2 e

where

2 <nei : input vector, (): activation function, Wi 2

<ncinsi and Vi 2 <neinci : ideal weights of hidden and
output layers, respectively, i is the reconstruction
error, nei: number of neurons in input layer, n ci: number
of neurons in hidden layer, and nsi: number of neurons
in output layer.

4. Synthesis of adaptive neural control with SMO

The ideal control ui defned in (14) is approximated by:
ui ueqi updi uri

(18)

However, since ideal weights (Wi and Vi) and the

input vector i are unknown, the ideal approximation
of the equivalent control (22) cannot be implemented.
To
overcome this problem,

where ueqi : is the adaptive approximation term of the

ideal
equivalent control ueqi defned in (15).
updi : is the real PD term.
updi ki ^si ki Ui E^i

(19)

where ^si and E i are the estimates of si and Ei,

respectively.
uri : is the robust term used to compensate
estimation errors:
uri w^i sign^si

(20)

where the adaptive law of the parameter w^i 2 < is

given by:

Figure 3. SHL neural network.

The ideal weights are estimated by W^i, V^i using

an adaptive mechanism,
the input vector i is estimated by v^i using

w^_ i ci j^sij;ci [ 0

(21)

an

observer.
r

The Taylor development of ViTv^i is given by:

4.1. Adaptive control law design with observer

rViTv^i

rV^iTv^

By the universal approximation theorem, there exists

ideal weight such that the SHL network can

r0V^iTv^V~iTv^i OV~iTv^i2 (23)

1156
By using (23) the real approximation by a
SHLNN

H. Boudjedir et al.
where W~i Wi W^i, V~i Vi V^i
the

are

parameter estimation errors and w i is

the estimation error:

(Figure 3) of (22) is:

ueqi

wi WiTrV iTv rViTv^i

W~iTr0V^iTv^iV~iTv^i

W^iTrV^iTv^
W^iTrViTv^i
W^iTr0V^iTv^V~iTv^i
W^iTOV~iTv^i2

WiTOV~iTv^i 2 ei

Assumption 5: kwikwi. With wi is an unknown

(24)
where the estimation error of the equivalent control is
as follows:
~ueqi ueqi ueqi W~iTrV^iTv^i W^iT
r0V^iTv^V~iTv^i wi
(25)

(26)

positive constant.
To achieve the goal of controlling, the laws of
adaptation of the weights are defned by:
(W^_ i FWirV^iTv^i^si ji W^i
(27)

Advanced Robotics
V^_ i FViv^i ^si
W^iTr0V^iTv^iji V^i

Ci

1157

0
T

where FWi > 0 and FVi > 0 are the adaptive gains and i
is a positive constant. The additional term modifcation is used to prevent weights explosion.
[5,14]

..

66664 . 77577

0
The general form of the candidate observer of (29)
[30,31,35,3942] is:

4.2. Sliding mode observer

Since the error state space Ei vector is not available, an
observer will be used to estimate it.
By using the following equation, which is coming

(E^

_
i

Ai Bi U0iE^i Oi~ei

(30)

^ei Ci E^i

eiri s_i U0i Ei

(28)

The time derivative of Ei is given by:

E_ i Ai Bi U0iEi Bi s_i

(29) ei

Ci Ei
With

Figure 4.

ANN used for the proposed observer.

0
i 2 00... 3
0
3
Figure 5. Adaptive neural network control based on neural observer for quadrotor.
2
from
0 0 1 ...
With E^i ^ei ^e_i ^eiri1T the estimates of
B
(11):
.

...
Ei, ~ei (~ei ei ^ei) denotes the observation error
0
2 Ai 66646 ..
7777566664 0 3
1
and Oi~ei is the correction term, used to
... ...
;
;
compensate the unknown non-linear terms in the
77775
0

1 0

0 0
0 0
1

0
0

1
0

1158
H. Boudjedir et al.
system. The choice of the observer defnes the
layer weights, and i,O: the reconstruction error, and
mathematical expression of

T~ei is the activation function chosen as follows:

Oi~ei.

1 e2z

For SMO,[4750] the term Oi~ei is given by:

T z(35)
1 e2z

Oi~ei di Di Ts~ei

(31)

With i 1 is a design parameter, and i is given by

Equation (32) and Ts~ei sign~ei.

Assumption 6: ||Ai|| Ai,m and |i| i,m, with Ai,m

and i,m are unknown positive constants.

Di #i;1 #i;2 di #i;ri1 drii1T

(32)

However, the high value of correction gain (i) and

the discontinue term (T s~ei) can create a large
amplifcation in measurement noise and therefore
causes a serious damage to the system.[24,25]
5. Neuronal observer design
To avoid the large amplifcation of measurement noise
during estimation, a new optimal neural observer is
proposed as follow:

The ideal weights (Ai and i) and the input vector Ei

ei ^ei

are unknown which implies that the

observer in (33) cannot be implemented. So that the

ideal weight will be estimated by (A^i, l^i and Ei
ei ^eiT).
The frst order of Taylor development of TATi Ei:
is given by:
TATi Ei TA^Ti Ei T0A^Ti EiA~Ti Ei

Figure 6. Controller/observer confguration for each subsystem (i 1 : 6).

OA~Ti Ei2 (36)

(E^_ i Ai Bi U0iE^i Di F~ei
(33) ^ei Ci E^i
With E^i: is the optimal estimated of Ei, ~ei ei

F~ei is:
F~ei l^i TA^Ti Ei
l^i TATi Ei l^i T0A^Ti EiV~iTEi l^i
OA~iTEi2

^ei , F~ei is the ideal output of the ANN:

F~ei li TATi Ei ei;O

The adaptive neuronal approximation F~ei (Figure

4) of

(34)

With Ei ei ^ei T: the input vector, Ai ai;1 ai;2T:

the ideal hidden layer weights, i: the ideal output

(37)
Then the neural estimation error F~~ei is as
follows:

Advanced Robotics
F~~ei F~ei F~ei
l~iTA^Ti Ei l^i T0A^Ti EiA~iTEi wi;o
(38)
With wi;o lTi fTATi Ei TATi Eig
liOA~Ti Ei2
l~Ti T0A^Ti Ei A~Ti Ei ei;o

(39)

The proposed adaptive neural network observer is

given by:

(E^

Ai Bi U0iE^i Di F~ei

(40) ^ei Ci E^i

So, the dynamic of the error estimation can be
formulated as:

E~

Ai Bi U0iE~i Bi s_i Di F~ei

1159

kp
Jr
Ix, Iy
Iz
g
kftx, kfty
kftz
kfr, kfr
kfr
Table 2. Controller/observer parameters.
Controller
Symbol

2.98e-5 (Ns2)
2.83e-5 (KgM2)
3.82e-3 (KgM2)
7.65e-3 (KgM2)
9.81 (Ms2)
5.56e-4 (Ns/M)
6.35e-4 (Ns/M)
5.56e-4 (Ns/r)
6.35e-4 (Ns/r)

Neuronal observer
Symbol
Value

Value

K
K

diag(10, 10, 10)

diag(1, 1, 10)
diag(0.2, 0.2, 0.2)
diag(1.5, 1.5, 20)

,,
lz;dw

FWx,y,z
FVx,y,z
FW,,
FV,,
,
,

3 I3.3
5 I5.5
I3.3
I5.5
0.1
0.01

Ax;y;w
Az
Ah;u
lu;h;x;y
lw

100
50
, diag(1, 20)
,diag(1,
50)
diag(1, 40)
[0.3; 1]
[0.5, 1]
[0.2, 1]
20
25

5.1. Stability proof

In order to examine the stability of the global
closedloop system (controller/ proposed observer), the
conver-

(41) ~ei Ci E~i

The proposed neuronal observer is defned by (39),
with the weights adaptive laws are given by:
(l^_ i Fli TA^Ti Ei~ei jli li l^i
A^_ i FAi Ei ~ei l^iTA^iT Ei jAi Ai A^i
(42)
where Fi > 0, Fi > 0, i > 0, and i > 0 are design
parameters and li, Ai are chosen by the designer.
Figure 5 presents the adaptive neural network
control based on neural observer for quadrotor. From
where the controller/observer confguration for each
subsystem

gence of the fltered error si i 1 : p, and the

estimation
error E~i i 1 : p to zero, the direct method of
Lyapunov is used.
Consider the following Lyapunov function candidate:
L L1 L2
8

12

>><>>L1

1XXgi si trWi i FWi1W~i tri

1

V~iTFVi1V~i w~2i

(i 1 : 6) is shown in Figure 6.

Table 1.
Symbol

>>

2 ip1

L2
2

Quadrotor parameters.
Value

0.486 (kg)

l
kd

0.25 (m)
3.23e-7 (NMs2)

i1

E~iTQi E~i Fl1l~2i A~Ti FA1A~i

ci

1160

H. Boudjedir et al.

(43) where Qi QTi [ 0 is the unique algebraic

solution of the following Lyapunov equation [39]:

Then:
Qi ATi Qi QiAi CiTCi

(44)

(45)

Now let: s_i giki si ki ~si wi;1 (46)

where

L_ L_ 1 L_
8

>><L_1

~si Ui E~i
_

And

Pppi1g1 i1Tsi s_i trW~iTTFWi1W~ i tr1

wi;1 W~iTrV^iTv^i
W^iTr0V^iTv^iV~iTv^i wi uri
_

V~iTFVi1V~

Ti

c i w~i w~_ i :>>L_2 Pi12E~i

Assumption
ci;3

Qi E~_ i 12

(47)

E~_ i Qi E~i Fli l~il~_ i A~i FAi A~_

7:jwi;1jci;1 kW~ik ci;2kV~ik

(48)

Advanced Robotics

Figure 7.

1161

Attitudes (1st column: SMO, 2nd column: proposed neural

: desired
observer),
trajectory,
(
: real trajectory,: esti-

mated trajectory).

1162

H. Boudjedir et al.
withstants.ci,1, ci,2, and ci,3 are unknown positive con-

2kici;13kEi kjsi j

kEi k - 1ki jsi j ;

-1
1 ~ 2
kEi k - 2c2i;14;
2ci;14k~
Ei k
-2
2
2
~i k 1 k~
~i k2;
2ci;15k~
Ei k kW
Ei k - 3ci;15kW
-3
By
ci2;13 ~

using:
2 2

~
By introducing (18), (21), (25), and (27), by using the adaptation laws in (42) and the equations expressed in (44,
46, and 48), the frst time derivative of (45) will be:

kQikmin ci;4kE~ik2 kici;5 kE~ikjsij E~iT12 CiTCiE~i QiDi F~ei1

Ei

Ei

L_ XiP1 BBBBBccj2iil;;116i l~kikW~EliikkkkE~l^ik ik cji;A7ki A~V~kTiikkAk E~iik A^i ic

j ij 2~e
j ici;10V
j 2kE~ikkW~ikCCCCCA
i;~8kk~2ijk sij2 i~kTcVC~i;9iTkk2iwkiE~;oikji sFW~

~i V~i

kWi k

i;m

i;m

(49)

ci;12 E~i

With ci;4 kQi BiU0ik ki gikQiBiUik, ci;5 gi

kQi Bik, ci,6 = ci,1ci,5, ci,7 = ci,2ci,5, ci,8 = ci,3ci,5, ci;9 ~ ~ ~
2~

kUik, ci;10 ci;1ci;9, ci;11 ci;2ci;9 and ci;12 ci;3ci;9.

Let us assume that: E~iT12 CiTCiE~i QiDi F~ei 0

and that: jF~~ei

wi;oj 2 ti;1kl~ik 2 ti;2kA~ik

where i,1 and i,2 are unknown positive constants.

So that, the frst time derivative of the Lyapunov function will be:

1
2
kEi k - 4ci;16kVik ;
-4
1
2
2
2
k~
l i kk~
l ik ;
2ti;1k~
Ei k
Ei k - 5ti;1k~
-5
1 ~ 2
2
kEi k - 6t2i;2k~
2ti;2k~
Ai kk~
Ei k
Ai k
-6
2ci;16kEi k kVi k

(51)

Advanced Robotics

1163

L_ Xip1 12j2ikQikmin2 kCiV~;1ikk2E~ ik2j2li ki-15t2i;1-k1kl~ijks

i j2 ij2i --t3c2i;k15kA kW~ik2 !
A
2
6 i;2
i
i;2
i
2
(52)
-4ci;16

where i Wi;m Ci;1 ci;4 Aic-2i;131 P6jli 2 -21j !

and

~i

j ij

ki1 -1ki

~ ~

sf

Ci;2

j2 j2li l~iliVi2;mjAi A~jiT2AAi i2;m -2jc22i;14li;m

By choosing: ki\1=-1, kQikmin [ 2Ci;1, ji [ 2 Max 2

3c2i;15 -4c2i;16, jli [ 2 -5t2i;1 and jAi [ 2 -6t i;2. We can

~ 2
Ci;2

s = s sf

ik

Ci;2

1 ji

i k ik
i k ik

E i, W i, V i, l~i, and A i are outside the compact

sets Xsi , XE~i , XW~i , XV~i , Xl~i , and XA~i , respectively,
where these compacts sets are, respectively, as follows:

;E~ =
E
1 ji -4c2i;16
1 kQikmin Ci;1
2

~~

sf

~~

sf

Ci;2

-3c2i;15

sf

Ci;2

guarantee that the function L is less than zero if si,

f Ci;2

Ci;2

1164
W= W

H. Boudjedir et al.
;
angles. Also, the desired trajectories of these angles d
and d are infuenced by this amplifcation which is
shown in Figure 7(a.1.1) and (a.1.2) and Figure 7(b.1.1)
and (b.1.2), respectively. However, an important
l~i=kl~ik 1 jli -5t2i;1
; Ai=kAik
21 jAi -6t2i
minimization of the undesirable phenomenon
2
(measurement noise amplifcation) is obtained by using
the proposed neural observer for all quadrotor angles
Thus, using standard Lyapunov extensions [15] L_
(, and ) and for the desired trajectories in rolling
which is less than zero outside of a compact set
and pitching (d and d). The Figure 7(b.2.2), (a.2.2)
revealing that all the signals are uniformly ultimately
and (c.2.2) show that the estimated angles pursuit the
bounded.
desired angles (d, d and d) by the proposed neural
observer. But, Figure 7(b.1.2), (a.1.2) and (c.1.2) had
6. Simulation results
shown that there is degradation in the pursuit by using
SMO.
The simulation experiments are performed to compare
Figure 8 shows the zoom of the trajectories of the
the SMO and the proposed neural observer. The
estimated
translation which highlights the performance
simulation parameters are given in Tables 1 and 2.
of the proposed observer.
The input vector of each SHLNN used in the controlCompared to SMO, an important reduction of the
measurement noise by the proposed observer is
ler is given by: ^vi Ydi Y_di Ydi ^e_i ^eiT; i 1
obtained for linear and angular velocities without any
: p, with
performance degradation (Figure 9).
Yd Yd1 Yd2 Yd3 Yd4 Yd5 Yd6T ud hd wd xd yd
Figure 10(a.1)(f.1) shows the control signal
obtained by using SMO which are too noisy compared
T
zdT and e ud u hd h wd w xd x yd y zd z .
to the control signal obtained by using the proposed
neural observer (Figure 10(a.2)(f.2)).
Measurement noises (Sensor noise) added to each
output are assumed to be WGN.[21,24,32,4346]These
noises are given by zero mean and a variance Var
7. Conclusion
[25,45,46] In our application, the WGN is zero mean
T
In this paper, neural adaptive control based on new
and with variance Var Vu Vh Vw Vx Vy Vz
neural observer was developed for an underactuated
0:003 0:003 0:01 0:05 0:05 0:05T.
Quadrotor UAV. In the control scheme, six ANNs have
been used for the adaptive controller and other six
Figures 710 show the performances of the
ANNs have been implemented for the observer. The
simulation results gotten with proposed neural observer
equivalent control was estimated online by a SHL
and with SMO under 50% parametric variation from
network. In order to reduce the sensitivity to the
time t = 10 sec.
measurement noise, an ANN is used to generate the
correction term of the proposed observer. The direct
Remark: In the comparative study, the function T
Lyapunov method is used to prove the global system
(.) defned in (35) is used instead of function T s()
(controller/observer) stability. The simulation results
are given to highlight the performances of the proposed
in (31) for SMO.
technique under measurement noise condition and
Very noisy angles are obtained by using SMO. This
parametric variation. A comparative study between the
amplifcation of noise is especially on the roll
proposed neural observer and the SMO is made. The
(Figure 7(a.1.1)) and the pitch (Figure 7(b.1.1))
proposed neural observer provides less noisy signals.
V= V

Advanced Robotics
trajectory,

1165

: estimated trajectory).

Figure 10.

Control signal (1st column: SMO, 2nd column; proposed neural observer).
[4] Dieks T, Jagannathan S. Neural networks out feedback of
a quadrotor UAV. In: Proceedings of IEEE, 47th
Hana Boudjedir was born in Algeria, 1986.
Conference on Decision and Control; 2008 Dec; Cancun
She received the Engineer degree in
Mexico. p. 36333639.
Automatic control in 2008 and the MSc
[5] Nagaty A, Saeedi S, Thibault C, Seto M, Li H. Control
degree in Automatic control and signal
and navigation framework for quadrotor helicopters. J.
processing in 2010 from University of Jijel,
Intell. Robot. Syst. 2013;70:112.
Algeria. She is currently a PhD candidate
[6] Bouadi H, Simoes Cunha S, Drouin A, Mora-Camino F.
and an assistant professor at Jijel
Adaptive sliding mode control for quadrotor attitude
University, Algeria. Her research interests
stabilization and altitude tracking. In: 2011 IEEE 12th
include aerial robotics, nonlinear control systems, analysis
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Omar Bouhali was born in Chekfa,
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Algeria, 1974. He received the Engineer
Automation; 2007 July 2729; Greece.
degree and the masters degree in automatic
[8] Bouaddallah S, Noth A, Siegwart R. PID vs. LQ control
from national polytechnic school of
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Algeria, in 1996 and 1998, respectively. He
Proceedings of the IEEE International Conference on
received the PhD degree from the Central
Intelligent Robots and Systems; 2004; Japan.
School of Lille, France and National
[9] Oosedo A, Konno A, Matsumoto T, Go K, Masuko K,
Polytechnic School of Algeria in 2007.
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Control Syst. Technol. 2004;12:510516.
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1578.
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Ecole
Suprieure
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Techniques
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