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Neural Adaptive PID Control of a Quadrotor using EFK
- Publication Year :
- 2018
- Publisher :
- Institute of Electrical and Electronics Engineers, 2018.
-
Abstract
- In this paper, we present a novel trajectory tracking algorithm for a four-rotor air vehicle (quadrotor). The PID controller is developed following an adaptive neuronal technique, and the discrete theory of Lyapunov verifies its stability. Also, the neuronal identification of the UAV dynamic model is presented. Besides, an extended Kalman filter is used in order to filter the signals from the aerial vehicle that are contaminated by measurement noises, and that can affect the quality of the identification. Then, the output errors are re-propagated to adjust the PID gains to reduce the control errors. Finally, the experimental results are presented using a four-rotor aerial vehicle (quadrotor), by comparing the presented proposal with a classical fixed-gain PID. Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Tosetti Sanz, Santiago Ramon. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
- Subjects :
- Lyapunov function
General Computer Science
IDENTIFICATION
Computer science
020208 electrical & electronic engineering
Stability (learning theory)
PID controller
Control Automático y Robótica
02 engineering and technology
INGENIERÍAS Y TECNOLOGÍAS
NEURAL NETWORKS
QUADROTOR
Extended Kalman filter
Identification (information)
symbols.namesake
ADAPTIVE PID
Filter (video)
Control theory
DISCRETE STABILITY ANALYSIS
0202 electrical engineering, electronic engineering, information engineering
Trajectory
symbols
020201 artificial intelligence & image processing
Electrical and Electronic Engineering
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
Subjects
Details
- Language :
- Spanish; Castilian
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....5acd42a1d5b36d5fc3fb2fa91dd37fa6