Development of an attitude control system of a heavy-lift hexacopter using Elman recurrent neural networks

Benyamin Kusumo Putro, Herwin Suprijono, Muhammad Ary Heryanto, Bhakti Yudho Suprapto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Hexacopter is a type of multicopter that can be used to lift a heavy load, hence very convenient to be utilised in agricultural fields. As the consequence, however, the attitude control of this hexacopter is rather difficult compare with that of a quadcopter with four motors, due to gyroscopic effect of the additional motors and in its combination with the heavy loads. In this paper, we have developed a direct inverse controller system using an Elman neural networks for the attitude and altitude control of the hexacopter. Experiments are conducted using a flight data taken from a test-bed system. Results show that the attitude characteritics of the heavy-lift hexacopter can be controlled successfully, especially when an optimized Elman neural networks as the direct inverse controller system is utilized.

Original languageEnglish
Title of host publication2016 22nd International Conference on Automation and Computing, ICAC 2016
Subtitle of host publicationTackling the New Challenges in Automation and Computing
EditorsJing Wang, Zhijie Xu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages27-31
Number of pages5
ISBN (Electronic)9781862181311
DOIs
Publication statusPublished - 20 Oct 2016
Event22nd International Conference on Automation and Computing, ICAC 2016 - Colchester, United Kingdom
Duration: 7 Sep 20168 Sep 2016

Publication series

Name2016 22nd International Conference on Automation and Computing, ICAC 2016: Tackling the New Challenges in Automation and Computing

Conference

Conference22nd International Conference on Automation and Computing, ICAC 2016
CountryUnited Kingdom
CityColchester
Period7/09/168/09/16

Keywords

  • artificial neural networks
  • DIC optimization
  • direct inverse control scheme
  • heavy-lift hexacopter

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