A NEURAL NETWORK CONTROL BASED ON DIFFERENTIAL FLATNESS FOR A QUADROTOR | Zendy

Sebastião Simões Cunha | Zendy; Benjamas Panomruttanarug | Zendy; Hamdam Al-Fazari | Zendy; Félix MoraCamino | Zendy

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A NEURAL NETWORK CONTROL BASED ON DIFFERENTIAL FLATNESS FOR A QUADROTOR

Author(s) -

Sebastião Simões Cunha,

Benjamas Panomruttanarug,

Hamdam Al-Fazari,

Félix MoraCamino

Publication year - 2011

Publication title -

proceedings of the brazilian conference on dynamics control and their applications

Language(s) - English

Resource type - Conference proceedings

ISSN - 2178-3667

DOI - 10.5540/dincon.2011.001.1.0198

Subject(s) - flatness (cosmology) , control theory (sociology) , artificial neural network , inversion (geology) , computer science , differential (mechanical device) , vehicle dynamics , attitude control , control engineering , control (management) , engineering , artificial intelligence , physics , aerospace engineering , cosmology , quantum mechanics , paleontology , structural basin , biology

International audienceIn this paper, a control strategy for a quadrotor using neural network and differential flatness is proposed. Since attitude and altitude of the quadrotor are differential flat outputs for its flight dynamics, neural networks are used to perform the inversion of the flight dynamics and provide the nominal input control for the quadrotor. Errors in modeling approximations and perturbations are fed back into an additional closed loop control structure in order to assure tracking accuracy. Numerical simulations are displayed for analysi

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