Mechanism and Neural Network Based on PID Control of Quadcopter

被引：0
|
作者：
Yoon, Gil-Young [1 ]
Yamamoto, Akito [2 ]
Lim, Hun-Ok [1 ]
机构：
[1] Kanagawa Univ, Dept Mech Engn, Yokohama, Kanagawa 220802, Japan
[2] Fujitsu Gen Ltd, Dept R&D, Kawasaki, Kanagawa 2130013, Japan
来源：
2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2016年
关键词：
Unmanned Aerial Vehicles;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes mechanism the quadcopter with on-board sensors. This quadcopter consists of four rotors, four straight legs, and a disk-shaped body. The body is mainly composed of a lightweight, very rigid carbon fiber reinforced polymer (CFRP) and resin composite. A 9-axis inertial measurement unit (IMU) that contains accelerometer and gyroscope and magnetometer is installed in the body to measure rotation angles and angular velocities. In addition, a robust control method based on a neural network-based PID control method capable of dealing with payload and wind disturbances is proposed. In the control method, the gains of the PID controller are adjusted in real-time. Through several hovering experiments of the quad copter, the effectiveness of the mechanism and the control method is verified.
引用
收藏
页码：19 / 24
页数：6
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