Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control\nsystem has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of\nquad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online\nadaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode\ncontroller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline\nSVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and\nnoises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately.\nThe control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process,\nso that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV\nthat joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed\nmethod that is proved has the better control effect in the UAV system.
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