Optimization of a neural network based direct inverse control for controlling a quadrotor unmanned aerial vehicle

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5 Citations (Scopus)

Abstract

UAVs are mostly used for surveillance, inspection and data acquisition. We have developed a Quadrotor UAV that is constructed based on a four motors with a lift-generating propeller at each motors. In this paper, we discuss the development of a quadrotor and its neural networks direct inverse control model using the actual flight data. To obtain a better performance of the control system of the UAV, we proposed an Optimized Direct Inverse controller based on re-training the neural networks with the new data generated from optimal maneuvers of the quadrotor. Through simulation of the quadrotor using the developed DIC and Optimized DIC model, results show that both models have the ability to stabilize the quadrotor with a good tracking performance. The optimized DIC model, however, has shown a better performance, especially in the settling time parameter.

Original languageEnglish
Article number04003
JournalMATEC Web of Conferences
Volume34
DOIs
Publication statusPublished - 11 Dec 2015
Event2nd International Conference on Mechatronics and Mechanical Engineering, ICMME 2015 - Singapore, Singapore
Duration: 15 Sep 201516 Sep 2015

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