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
相关论文
共 50 条
  • [1] Neural Network and Fuzzy-logic-based Self-tuning PID Control for Quadcopter Path Tracking
    El Hamidi, Khadija
    Mjahed, Mostafa
    El Kari, Abdeljalil
    Ayad, Hassan
    STUDIES IN INFORMATICS AND CONTROL, 2019, 28 (04): : 401 - 412
  • [2] Improving PID Control Based on Neural Network
    Li, Jun
    Gomez-Espinosa, Alfonso
    2018 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2018), 2018, : 186 - 191
  • [3] Neural Network Based PID Control Analysis
    Mahmud, Khizir
    2013 IEEE GLOBAL HIGH TECH CONGRESS ON ELECTRONICS (GHTCE), 2013,
  • [4] End-to-end neural network based optimal quadcopter control
    Ferede, Robin
    de Croon, Guido
    De Wagter, Christophe
    Izzo, Dario
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 172
  • [5] Quadcopter Trajectory Tracking Control Based on Flatness Model Predictive Control and Neural Network
    Li, Yong
    Zhu, Qidan
    Elahi, Ahsan
    ACTUATORS, 2024, 13 (04)
  • [6] Control of Quadrotor using a Neural Network based PID
    Gomez-Avila, Javier
    Lopez-Franco, Carlos
    Alanis, Alma Y.
    Arana-Daniel, Nancy
    2018 IEEE LATIN AMERICAN CONFERENCE ON COMPUTATIONAL INTELLIGENCE (LA-CCI), 2018,
  • [7] Neural Network Based PID Control for Quadrotor Aircraft
    Zhao, Dandan
    Sun, Changyin
    Wang, Qingling
    Yang, Wankou
    INTELLIGENCE SCIENCE AND BIG DATA ENGINEERING: BIG DATA AND MACHINE LEARNING TECHNIQUES, ISCIDE 2015, PT II, 2015, 9243 : 287 - 297
  • [8] Stable and adaptive PID control based on neural network
    Hu, H.J.
    Er, L.J.
    Liu, Q.
    Chen, J.Q.
    2001, Beijing University of Aeronautics and Astronautics (BUAA) (27): : 153 - 156
  • [9] Online Tuning of PID Controller Using a Multilayer Fuzzy Neural Network Design for Quadcopter Attitude Tracking Control
    Park, Daewon
    Le, Tien-Loc
    Quynh, Nguyen Vu
    Long, Ngo Kim
    Hong, Sung Kyung
    FRONTIERS IN NEUROROBOTICS, 2021, 14
  • [10] Adaptive control based on PID-like neural network
    2001, China Ordnance Society (22):
12345