Dynamic inversion control of UAV using ANN

DOI

10.2991/eeeis-16.2017.97How to use a DOI?

Keywords

Dynamic Inversion Controller; Unmanned Aerial Vehicle (UAV); Neural Network (ANN); Single Hidden Layer (SHL).

Abstract

The paper proposes a method to design ANN dynamic inversion controller through online ANN compensating inversion error. It mainly aims at evident shortage of dynamic inversion controller of UAV. A single hidden layer ANN structure is constructed and the stability of the whole closed loop system is proved. Also the stable adjustment arithmetic of online ANN weight is proposed. The robustness, the adaptability to fault and the response capability to actuator delay time of the scheme are verified by simulation. It is also proved that the online ANN has improved the performance of dynamic inversion controller well. It has important reference value for designing advanced flight control systems of UAV.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Gong-Cai Xin
AU  - Wei-Lun Chen
PY  - 2016/12
DA  - 2016/12
TI  - Dynamic inversion control of UAV using ANN
BT  - Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016)
PB  - Atlantis Press
SP  - 787
EP  - 792
SN  - 2352-5401
UR  - https://doi.org/10.2991/eeeis-16.2017.97
DO  - 10.2991/eeeis-16.2017.97
ID  - Xin2016/12
ER  -