TY - GEN
T1 - Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network
AU - Suprapto, Bhakti Yudho
AU - Heryanto, M. Ary
AU - Suprijono, Herwin
AU - Putro, Benyamin Kusumo
PY - 2017/1/20
Y1 - 2017/1/20
N2 - This paper proposes the use of Direct Inverse Control (DIC) with Elman Recurrent Neural Network (ERNN) learning algorithm for the altitude control of a heavy-lift hexacopter. The study was conducted analytically using the real flight data obtained from real plant experiment. The results showed that the ERNN can successfully control the altitude of the heavy-lift hexacopter, where the response generated by the DIC system was in good agreement with the test data with low error. Furthermore, the proposed DIC system can also control the attitude, e.g. roll, pitch and yaw of the hexacopter which are also crucial for the hexacopter movement control.
AB - This paper proposes the use of Direct Inverse Control (DIC) with Elman Recurrent Neural Network (ERNN) learning algorithm for the altitude control of a heavy-lift hexacopter. The study was conducted analytically using the real flight data obtained from real plant experiment. The results showed that the ERNN can successfully control the altitude of the heavy-lift hexacopter, where the response generated by the DIC system was in good agreement with the test data with low error. Furthermore, the proposed DIC system can also control the attitude, e.g. roll, pitch and yaw of the hexacopter which are also crucial for the hexacopter movement control.
KW - Altitude control
KW - DIC
KW - Elman recurrent neural networks
KW - Heavy-lift hexacopter
KW - Neural networks
UR - http://www.scopus.com/inward/record.url?scp=85021412837&partnerID=8YFLogxK
U2 - 10.1145/3036331.3036354
DO - 10.1145/3036331.3036354
M3 - Conference contribution
AN - SCOPUS:85021412837
T3 - ACM International Conference Proceeding Series
SP - 135
EP - 140
BT - Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017
PB - Association for Computing Machinery
T2 - 8th International Conference on Computer Modeling and Simulation, ICCMS 2017
Y2 - 20 January 2017 through 23 January 2017
ER -