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Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors
Joint Authors
Santos, Matilde
Sierra, Jesús Enrique
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-03
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Abstract EN
In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics.
Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered.
An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance.
The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one.
During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced.
Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor.
American Psychological Association (APA)
Sierra, Jesús Enrique& Santos, Matilde. 2019. Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors. Complexity،Vol. 2019, no. 2019, pp.1-20.
https://search.emarefa.net/detail/BIM-1132475
Modern Language Association (MLA)
Sierra, Jesús Enrique& Santos, Matilde. Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors. Complexity No. 2019 (2019), pp.1-20.
https://search.emarefa.net/detail/BIM-1132475
American Medical Association (AMA)
Sierra, Jesús Enrique& Santos, Matilde. Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors. Complexity. 2019. Vol. 2019, no. 2019, pp.1-20.
https://search.emarefa.net/detail/BIM-1132475
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132475