Real-time Neural Backstepping Control for a Helicopter Prototype

被引：0

作者：

Djilali, Larbi ^{[1
,2
]}

Suarez, Oscar J. ^{[1
]}

Sanchez, Edgar N. ^{[1
]}

Alanis, Alma Y. ^{[3
]}

Pardo Garcia, Aldo ^{[4
]}

机构：

[1] CINVESTAV, Elect Engn Dept, Guadalajara, Mexico

[2] Univ Amar Telidji, Elect Engn Dept, Laghouat, Algeria

[3] Univ Guadalajara, Comp Sci Dept, Guadalajara, Mexico

[4] Univ Pamplona, Elect Engn Dept, Pamplona, Colombia

来源：

2017 IEEE LATIN AMERICAN CONFERENCE ON COMPUTATIONAL INTELLIGENCE (LA-CCI) | 2017年

关键词：

Quanser 2-DOF Helicopter; Backstepping Control; Recurrent High Order Neural Network; Extended Filter Kalman; Real-time; SYSTEMS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a discrete-time backstepping controller based on a neural model for a Quanser 2-Degree Of Freedom (DOF) helicopter. The proposed controller is used to track the pitch and yaw position references independently. This controller is based on a Recurrent High Order Neural Network (RHONN) trained with an Extended Kalman Filter (EKF). The RHONN works as an identifier to obtain an adequate Quanser 2-DOF helicopter mathematic model, which is robust in presence of disturbances and parameter variations. To examine the robustness of the proposed controller, simulations using Matlab/Simulinkand real-time implementation are presented.

引用

页数：6

共 50 条

[41] NEURAL FEEDBACK SCHEDULING OF REAL-TIME CONTROL TASKS
Xia, Feng
Tian, Yu-Chu
Sun, Youxian
Dong, Jinxiang
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2008, 4 (11): : 2965 - 2975
[42] REAL-TIME CONTROL OF ROBOT MANIPULATORS BY NEURAL NETWORKS
LI, YT
JIANG, YS
INTEGRATED COMPUTER-AIDED ENGINEERING, 1995, 2 (03) : 241 - 248
[43] Integration of a real-time parallel transputer-based helicopter simulation with real flight control hardware
Gee, A
Clarke, T
INTERNATIONAL CONFERENCE ON SIMULATION '98, 1998, (457): : 50 - 57
[44] Real-time Radar Gesture Classification with Spiking Neural Network on SpiNNaker 2 Prototype
Huang, Jiaxin
Vogginger, Bernhard
Gerhards, Pascal
Kreutz, Felix
Kelber, Florian
Scholz, Daniel
Knobloch, Klaus
Mayr, Christian Georg
2022 IEEE INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE CIRCUITS AND SYSTEMS (AICAS 2022): INTELLIGENT TECHNOLOGY IN THE POST-PANDEMIC ERA, 2022, : 362 - 365
[45] Real-time audio watermarking system prototype
Hernandez, Jose Juan Garcia
Miyatake, Mariko Nakano
Meana, Hector Perez
ISM 2006: EIGHTH IEEE INTERNATIONAL SYMPOSIUM ON MULTIMEDIA, PROCEEDINGS, 2006, : 792 - +
[46] A real-time simulation tool for real-time control
Kwon, WH
Kim, KB
Moon, SY
Choi, SG
Kim, YS
ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1997, 1997, : 325 - 329
[47] Hard real-time control & real-time linux
Murillo-Garcia, R
DR DOBBS JOURNAL, 2003, 28 (11): : 65 - 67
[48] A Prototype for a Real-Time Weather Responsive System
Krings, Axel
Serageldin, Ahmed
Abdel-Rahim, Ahmed
2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 2012, : 1465 - 1470
[49] The prototype COBRA near real-time processor
Earp, SL
Marshall, JW
Anthony, ER
DETECTION AND REMEDIATION TECHNOLOGIES FOR MINES AND MINELIKE TARGETS, 1996, 2765 : 25 - 35
[50] PERFORMANCE OF A REAL-TIME SENSOR AND PROCESSING SYSTEM ON A HELICOPTER
Kurz, F.
Rosenbaum, D.
Meynberg, O.
Mattyus, G.
Reinartz, P.
ISPRS TECHNICAL COMMISSION I SYMPOSIUM, 2014, 40-1 : 189 - 193

← 1 2 3 4 5 →