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〉
Liste complète des métadonnées

Littérature citée [8 références]  Voir  Masquer  Télécharger
https://hal-enac.archives-ouvertes.fr/hal-01346276
Contributeur : Laurence Porte <>
Soumis le : jeudi 18 août 2016 - 15:47:44
Dernière modification le : samedi 20 août 2016 - 01:00:46
Document(s) archivé(s) le : samedi 19 novembre 2016 - 20:08:44

Fichier

198.pdf
Fichiers éditeurs autorisés sur une archive ouverte

Identifiants

Collections

ENAC | MAIAA | MAIAA-AUTO | TDS-MACS

Citation

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〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

69

Téléchargements de fichiers

127

Picto

Contact  : publications@enac.fr