원문정보
초록
영어
In this article, a dynamic model of a six degrees of freedom (6 DOF) Eight-Rotor MAV (micro aerial vehicles) is derived on the basis of the Newton-Euler formalism. The derivation comprises determining equations of the motion of the Eight-Rotor MAV in three dimensions and approximating the actuation forces through the modelling of aerodynamic coefficients and electric motor dynamics. For Eight-Rotor MAV is inherently unstable as they are highly sensitive to external perturb, here provides an adaptive double neural network controller for the motion control of the Eight-Rotor MAV autonomous flight. This controller is developed in three parts around each of the variables. The experimental results show that the proposed adaptive double neural network controller outperforms the conventional PID controller due to its fast adaptive qualities in the presence of sensor measurement noise and the parameters variations of Eight-Rotor MAV.
목차
1. Introduction
2. Dynamic Modeling of Eight-Rotor MAV
2.1. Flight Theory of Eight-Rotor MAV
2.2. Eight-Rotor MAV Dynamic Modeling
3. Adaptive Double Neural Network Controller
3.1. Adaptive Self Tuning Regulator Controller
3.2 Online Training
4. Experiments for Eight-Rotor MAV Autonomous Flight
4.1. Eight-Rotor MAV Flight Control Structure
4.2 PID Controller for Eight-Rotor MAV
4.3 Double Neural Network Controller for Eight-Rotor MAV
5. Conclusion
References