Adaptive Neural Altitude Control and Attitude Stabilization of a Hexacopter with Uncertain Dynamics

被引：0
|
作者：
Al-Mahasneh, Ahmad Jobran [1 ]
Anavatti, Sreenatha G. [1 ]
Ferdaus, Meftahul [1 ]
Garratt, Matthew A. [1 ]
机构：
[1] Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT, Australia
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON INDUSTRY 4.0, ARTIFICIAL INTELLIGENCE, AND COMMUNICATIONS TECHNOLOGY (IAICT) | 2019年
关键词：
Adaptive control; Hexacopter; altitude control; neural control; unmanned aerial vehicles;
D O I：
10.1109/iciaict.2019.8784844
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Unmanned Aerial Vehicles (UAVs) are recently attracting significant research attention due to their potential applications in many fields. Hexacopter UAV offers higher payloads handling and faults tolerance than a quadcopter but its control is a demanding task. In this paper, an adaptive Neural Networks (NN) controller is proposed for altitude tracking and attitude stabilization of a hexacopter UAV with uncertain dynamics. The controller design, simulation and robustness against gust disturbances are discussed. Also, the controller performance is compared with a standard Filtered-Proportional-Derivative-Integrator (FPID) controller for different control scenarios.
引用
收藏
页码：44 / 49
页数：6
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