Paper: Quad Copter Mechanics and NN Control

ROBUST NEURAL NETWORK CONTROL OF A QUADROTOR HELICOPTER

C. Nico,C.J.B. Macnab, A. Ramirez-Serrano

Schulich School of Engineering, University of Calgary  Department of Electrical and Computer Engineering  Department of Mechanical and Manufacturing Engineering 2500 University Dr. NW, Calgary, Alberta, Canada, T2N 1N2

ABSTRACT

This paper proposes a new adaptive neural network control to stabilize a quadrotor helicopter against modeling error and considerable wind disturbance. The new method is compared to both deadzone and e-modification adaptive techniques and through simulation demonstrates a clear improvement in terms of achieving a desired attitude and reducing weight drift.

http://lossofgenerality.devzing.com/files/adaptive_quadcopter.pdf

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