Neural Network Adaptive Attitude Control of Full-States Quad Tiltrotor UAV

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

Paper: Neural network adaptive attitude control of full-states Quad Tiltrotor UAV

This paper uses RBF neural network for the attitude control of full-states Quad Tiltrotor UAV. The work of this paper is interesting. However, the authors should do all following comments to improve the paper and be in a suitable form.

Comments:

P1: Mention some numerical results at the end of the abstract part.

P2: In the introduction part, categorize the different algorithm and control techniques like PID, FUZZY, H-infinity used for attitude control of the full-states Quad Tiltrotor UAV. In addition, show the main contribution of this paper compared with the previous published approaches.

P3: In Figure 1, show the components of the presented UAV. In addition, the specification of each component should be presented in the paper.

P4: Figure 2 is very important which show the dynamics of the UAV. I recommend the authors to show the equations of each element presented in this Figure. The dynamic parameters should be presented clearly.

P5: Figure 3 needs to be discussed with more information and details in the text of the paper.

P6: How authors got the values of the parameters presented in Tables 1, 2, and 3. Show this in the text of the paper.

P7: The structure of the used neural network, the training process, the used samples, the testing and verification issues, and the properties of this type of neural network should be discussed and showed in the paper. Why this type of neural network is used compared with other different types? The following paper maybe used: https://doi.org/10.15377/2409-5761.2020.07.2

P8: Figure 8 is also very important and should be discussed with more information and details in the text of the paper.

P9: Sources/references of the equations should be added to the text of the paper. In addition, add more information to make the equations clearer.

P10: Discussing the results and comparing with other previous approaches are recommended to be added. In addition, what about the stability of the system?

P11: Some future work can be added to the end of conclusion part. In addition, the number of references is low. Increase them to 35-45 updated reference using 2024-2025 years. List of abbreviations and their definitions should be added to the paper.

Comments for author File: Comments.pdf

Author Response

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Reviewer 2 Report

Comments and Suggestions for Authors

The authors in this paper studied the control stability and accuracy of quad tiltrotor UAVs when encountering external disturbances during automatic flight.

Their work is to improve the stability and accuracy by an active disturbance rejection control parameter self-tuning control strategy based on radial basis function neural network. More than one concept are used to achieve their goals.

The following comments are to improve the writing of the paper and add more missing references.

1. The authors concentrate on the rotational motion (attitude) model, stability, and performance. They do not study the whole model, including the translational model. The translational movement will affect the altitude movement. Authors are required to clarify this point.
2. The authors wrote in line 116 that Section 4 demonstrates simulation results. So it is better to change the title of Section 4.
3. Correct “R_g” in line 189 to “R_E” as in Equation 7.
4. Explain in a remark how to obtain the regular model, “non-tiltrotor model” given in Equation 7.
5. Make the title of Figure 7 under its figure. Do the same for Figure 14.
6. From Figure 10, it seems that the IAE is diverging with time. It should go to zero, isn’t it?
7. Stage IX mode in Figure 19 is not shown.
8. The following references are important to rich the paper, which include the whole model of the Quadrotor:
   1. System and method for control of quadrotor air vehicles with tiltable rotors, US Patent App. 14/269,322, 2016
   2. Feedback linearization control of quadrotor with tiltable rotors under wind gusts, International Journal of Advanced and Applied Sciences, 4(10) 2017
   3. Quadrotor with tiltable rotors for manned applications, 2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices

Author Response

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Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

I have no other comments. The paper can be accepted.