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Radial Basis Function Neural Network Based PID Control for Quad-rotor Flying Robot
Shoji Furukawa,Shunya Kondo,Atuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
It is difficult for flying robots with a conventional PID controller to fly stably with external disturbances such as wind. Thus, a flight control method that can change the control parameters of a conventional PID controller according to the external disturbances is described in this paper. The control parameters of the PID controller are automatically adjusted based on a radial basis function neural network (RBFNN). The experimental results show that the control method is capable of effectively dealing with external disturbances.