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Event-Triggered Fixed-Time Sliding Mode Control for Lip-Reading-Driven UAV: Disturbance Rejection Using Wind Field Optimization
Lan, Tian1; Song, Jun2; Hou, Zhiwei3; Chen, Kang2; He, Shuping4; Wang, Hai5; Liu, Jason J.R.6
2024-11
Source PublicationIEEE Transactions on Automation Science and Engineering
ISSN1545-5955
Abstract

This paper investigates the fixed-time sliding mode control (FTSMC) problem for a quadcopter unmanned aerial vehicle (QUAV), which is driven by a lip-reading recognition module. The lip-reading recognition module is consisted of a trained deep neural network with the structure of 2D-Conv + GhostNet + TCN. In order to reduce the communication burden between the remote controller and the QUAV as well as reduce the computation burden in running the lip-reading recognition module, the event-triggered mechanism is introduced to the position controller design. The low-bound of the triggering interval is derived explicitly so that the Zeno phenomenon can be excluded. Furthermore, in order to overcome the main obstacle in high-accuracy control of QUAV, this paper launches a novel wind disturbance rejection approach by using wind field model, which is motivated by the physical dynamic characteristics of the practical wind. Specifically, the wind disturbance is estimated in the designed FTSMC by applying a specific wind field equation with preassigned physical parameters. To further reduce the chattering in the controller, a fitting technique is introduced via a local multivariate linear regression. Finally, both simulation and human-in-the-loop experiment results verify the applicability of the proposed control approach for the lip-reading-driven QUAV system. Note to Practitioners - This research is motivated by the need to design lip-reading-driven QUAV. In noisy environments or when silence is required, the efficiency of traditional human-computer interaction methods such as speech recognition is greatly reduced. Especially for people with damaged vocal cords, speech recognition is not achievable. In addition, it is difficulty to realize high-precision anti-interference control of QUAV with lower computational and communication burdens. In order to solve these problems, this research designs a lip-reading recognition module for QUAV control to cope with various complex application scenarios and realizes high-performance control by FTSMC algorithm. The key of this work to save system resources is to introduce the event-triggered mechanism into the position controller of the QUAV. In addition, this paper introduces the wind field model into the QUAV model to realize the wind disturbance suppression. The lip-reading-driven QUAV proposed in this paper have a wide range of applications, such as controlling QUAV in hazardous environments and improving the efficiency of interaction between human and QUAV system.

KeywordEvent-triggering Lip-reading Sliding Mode Control Unmanned Aerial Vehicles Wind Field
DOI10.1109/TASE.2024.3496939
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:001362234700001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-85210141285
Fulltext Access
Citation statistics
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Faculty of Science and Technology
Corresponding AuthorSong, Jun; He, Shuping
Affiliation1.Anhui University, Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education, School of Electrical Engineering and Automation, Hefei, 230601, China
2.Anhui University, Engineering Research Center of Autonomous Unmanned System Technology, Ministry of Education, Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, School of Artificial Intelligence, Hefei, 230601, China
3.Bank of Hangzhou, Hangzhou, 310000, China
4.Anhui University, Information Materials and Intelligent Sensing Laboratory of Anhui Province, Hefei, 230601, China
5.Murdoch University, Discipline of Engineering and Energy, Perth, 6150, Australia
6.University of Macau, Faculty of Science and Technology, Department of Electromechanical Engineering, Macao
Recommended Citation
GB/T 7714
Lan, Tian,Song, Jun,Hou, Zhiwei,et al. Event-Triggered Fixed-Time Sliding Mode Control for Lip-Reading-Driven UAV: Disturbance Rejection Using Wind Field Optimization[J]. IEEE Transactions on Automation Science and Engineering, 2024.
APA Lan, Tian., Song, Jun., Hou, Zhiwei., Chen, Kang., He, Shuping., Wang, Hai., & Liu, Jason J.R. (2024). Event-Triggered Fixed-Time Sliding Mode Control for Lip-Reading-Driven UAV: Disturbance Rejection Using Wind Field Optimization. IEEE Transactions on Automation Science and Engineering.
MLA Lan, Tian,et al."Event-Triggered Fixed-Time Sliding Mode Control for Lip-Reading-Driven UAV: Disturbance Rejection Using Wind Field Optimization".IEEE Transactions on Automation Science and Engineering (2024).
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