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Modeling and Design Adaptive Double Neural Network Controller for Eight-Rotor Micro Aircraft Vehicle
Di Li,Zhihong Lu,Xiang-jian Chen 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.11
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.
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