A neural network control based on differential flatness for a quadrotor

Sebastião S. Cunha 1 Benjamas Panomruttanarug 2 Hamdam Al-Fazari 3 Felix Antonio Claudio Mora-Camino 4
1 Universidade Federal de Itajubá
2 King Mongkuts University of Technology
3 Oman Technological College
4 MAIAA - ENAC - Laboratoire de Mathématiques Appliquées, Informatique et Automatique pour l'Aérien
Abstract : In 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 analysis
Keywords : Artificial Neural Network Differential Flatness Non-linear Control
Type de document :
Communication dans un congrès
DINCON 2011, 10a Conferência Brasileira de Dinâmica, Controle e Aplicações, Aug 2011, Águas de Lindóia, SP, Brazil. DINCON 2011, 10a Conferência Brasileira de Dinâmica, Controle e Aplicações, pp.778-781, 〈10.5540/DINCON.2011.001.1.0198〉
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Sebastião S. Cunha, Benjamas Panomruttanarug, Hamdam Al-Fazari, Felix Antonio Claudio Mora-Camino. A neural network control based on differential flatness for a quadrotor. DINCON 2011, 10a Conferência Brasileira de Dinâmica, Controle e Aplicações, Aug 2011, Águas de Lindóia, SP, Brazil. DINCON 2011, 10a Conferência Brasileira de Dinâmica, Controle e Aplicações, pp.778-781, 〈10.5540/DINCON.2011.001.1.0198〉. 〈hal-01346276〉

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