Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network

Bhakti Yudho Suprapto; M. Ary Heryanto; Herwin Suprijono; Benyamin Kusumo Putro

doi:10.1145/3036331.3036354

Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network

Bhakti Yudho Suprapto, M. Ary Heryanto, Herwin Suprijono, Benyamin Kusumo Putro

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017
Publisher	Association for Computing Machinery
Pages	135-140
Number of pages	6
ISBN (Electronic)	9781450348164
DOIs	https://doi.org/10.1145/3036331.3036354
Publication status	Published - 20 Jan 2017
Event	8th International Conference on Computer Modeling and Simulation, ICCMS 2017 - Canberra, Australia Duration: 20 Jan 2017 → 23 Jan 2017

Publication series

Name	ACM International Conference Proceeding Series
Volume	Part F128047

Conference

Conference	8th International Conference on Computer Modeling and Simulation, ICCMS 2017
Country	Australia
City	Canberra
Period	20/01/17 → 23/01/17

Keywords

Altitude control
DIC
Elman recurrent neural networks
Heavy-lift hexacopter
Neural networks

Access to Document

10.1145/3036331.3036354

Link to publication in Scopus

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Cite this

Suprapto, B. Y., Heryanto, M. A., Suprijono, H., & Putro, B. K. (2017). Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network. In Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017 (pp. 135-140). (ACM International Conference Proceeding Series; Vol. Part F128047). Association for Computing Machinery. https://doi.org/10.1145/3036331.3036354

Suprapto, Bhakti Yudho ; Heryanto, M. Ary ; Suprijono, Herwin ; Putro, Benyamin Kusumo. / Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network. Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017. Association for Computing Machinery, 2017. pp. 135-140 (ACM International Conference Proceeding Series).

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abstract = "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.",

keywords = "Altitude control, DIC, Elman recurrent neural networks, Heavy-lift hexacopter, Neural networks",

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Suprapto, BY, Heryanto, MA, Suprijono, H & Putro, BK 2017, Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network. in Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017. ACM International Conference Proceeding Series, vol. Part F128047, Association for Computing Machinery, pp. 135-140, 8th International Conference on Computer Modeling and Simulation, ICCMS 2017, Canberra, Australia, 20/01/17. https://doi.org/10.1145/3036331.3036354

Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network. / Suprapto, Bhakti Yudho; Heryanto, M. Ary; Suprijono, Herwin; Putro, Benyamin Kusumo.

Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017. Association for Computing Machinery, 2017. p. 135-140 (ACM International Conference Proceeding Series; Vol. Part F128047).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.

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Suprapto BY, Heryanto MA, Suprijono H, Putro BK. Altitude control of heavy-lift hexacopter using direct inverse control based on elman recurrent neural network. In Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017. Association for Computing Machinery. 2017. p. 135-140. (ACM International Conference Proceeding Series). https://doi.org/10.1145/3036331.3036354