Title :
Robust neural network control of a quadrotor helicopter
Author :
Nicol, C. ; Macnab, C.J.B. ; Ramirez-Serrano, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Calgary Univ., Calgary, AB
Abstract :
This paper proposes a new adaptive neural network control to stabilize a quadrotor helicopter against modeling error and considerable wind disturbance. The new method is compared to both deadzone and e-modification adaptive techniques and through simulation demonstrates a clear improvement in terms of achieving a desired attitude and reducing weight drift.
Keywords :
adaptive control; aircraft control; helicopters; neurocontrollers; robust control; e-modification adaptive techniques; modeling error; quadrotor helicopter; robust neural network control; Adaptive control; Clocks; Helicopters; Neural networks; Remotely operated vehicles; Robust control; Robust stability; Rotors; Sliding mode control; Vehicle dynamics; Cerebellar Model Articulation Controller (CMAC); Direct Adaptive Control; Neural Network Control; Quadrotor Helicopter; Unmanned Aerial Vehicle;
Conference_Titel :
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-1642-4
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2008.4564736
