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General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian R. McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
  • E-mail questions to IJMERR Editorial Office.


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International Journal of Mechanical Engineering and Robotics Research

Anti-disturbance Control for Unmanned Aerial Vehicles with NN Modeling

Abstract—This paper presents a novel anti-disturbance tracking control problem for Unmanned Aerial Vehicles(UAVs) systems. Different from the general external disturbances, this paper uses the neural network to describe the nonlinear disturbances. On this basis, a disturbance observer is designed to estimate the nonlinear disturbances. By integrating the estimation of disturbance with P-I control algorithm, a composite controller based on convex optimization theory is designed to ensure the UAVs system stability and convergence of the tracking error to zero. Finally, Matlab / Simulink is used to simulate a Unmanned Aerial Vehicles model, which helps to verify the feasibility and effectiveness of this algorithm. 

Index Terms—anti-disturbance control, unmanned aerial vehicles, tracking control, neural network model