Experimental Implementation of an ANN Controller for Quadrotor Trajectory Control in Confined Environment

Abstract

This paper presents the experimental results of the trajectory control of a Qball-X4 quadrotor in confined environments and with the presence of model uncertainties. The presented controller utilizes Artificial-Neural-Networks to adjust for aerodynamic and model uncertainties on-line. The provided experimental results show the robustness and effectiveness of the developed ANN controller when applied to the Qball X4 quadrotor.