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A robust adaptive neural network con...

Nicol, Christopher Edmond.

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A robust adaptive neural network control for a quadrotor helicopter.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	A robust adaptive neural network control for a quadrotor helicopter./
作者:	Nicol, Christopher Edmond.
面頁冊數:	182 p.
附註:	Source: Masters Abstracts International, Volume: 48-06, page: 3805.
Contained By:	Masters Abstracts International48-06.
標題:	Engineering, Aerospace. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR62088
ISBN:	9780494620885

A robust adaptive neural network control for a quadrotor helicopter.
Nicol, Christopher Edmond.

A robust adaptive neural network control for a quadrotor helicopter. - 182 p.

Source: Masters Abstracts International, Volume: 48-06, page: 3805.

Thesis (M.Sc.)--University of Calgary (Canada), 2010.

A quadrotor helicopter is a highly nonlinear and open-loop unstable system, presenting significant challenges in terms of control design. This thesis proposes a neural network based controller, which makes use of a new robust technique to avoid weight drift caused by persistent disturbances, and describes the development of a working prototype for testing purposes. The controller consists of an adaptive neural network for attitude/altitude control and adaptation, and a position control to design roll and pitch angles/velocities. When the new robust technique is applied in simulation, results demonstrate the control design is able to stabilize the quadrotor, while avoiding weight drift. After implementing the adaptive neural network on the prototype, experiments demonstrate that the control is able to stabilize the quadrotor, that nonlinear techniques provide a wider operating range than linear controls, and that weight drift is as much of a problem practically, as it is theoretically.

ISBN: 9780494620885Subjects--Topical Terms:

1018395
Engineering, Aerospace.

A robust adaptive neural network control for a quadrotor helicopter.
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