约束环境下四旋翼飞行器轨迹控制的神经网络控制器实验实现

2019 IEEE National Aerospace and Electronics Conference (NAECON) Pub Date : 2019-07-01 DOI:10.1109/NAECON46414.2019.9058018

Ahmed Mekky, T. Alberts, O. González

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引用次数: 2

摘要

本文给出了Qball-X4四旋翼飞行器在受限环境和模型不确定性条件下的轨迹控制实验结果。该控制器利用人工神经网络对空气动力学和模型的不确定性进行在线调节。实验结果表明，所开发的人工神经网络控制器在Qball X4四旋翼飞行器上的鲁棒性和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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2019 IEEE National Aerospace and Electronics Conference (NAECON)

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