Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter
Joint Authors
Zheng, Fang
Li, Hongbo
Zhang, Yu
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-26
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Control of quadrotor helicopters is difficult because the problemis naturally nonlinear.
The problem becomes more challenging forcommon model based controllers when unpredictable uncertainties anddisturbances in physical control system are taken into account.
This paperproposes a novel intelligent controller design based on a fast onlinelearning method called extreme learning machine (ELM).
Our neuralcontroller does not require precise system modeling or prior knowledgeof disturbances and well approximates the dynamics of the quadrotorat a fast speed.
The proposed method also incorporates a sliding modecontroller for further elimination of external disturbances.
Simulationresults demonstrate that the proposed controller can reliably stabilize aquadrotor helicopter in both agitated attitude and position control tasks.
American Psychological Association (APA)
Zhang, Yu& Zheng, Fang& Li, Hongbo. 2015. Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1075014
Modern Language Association (MLA)
Zhang, Yu…[et al.]. Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1075014
American Medical Association (AMA)
Zhang, Yu& Zheng, Fang& Li, Hongbo. Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1075014
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075014