多旋翼无人机混合并联神经控制器

2016 8th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT) Pub Date : 2016-10-01 DOI:10.1109/ICUMT.2016.7765223

A. Bobtsov, A. Guirik, M. Budko, M. Budko

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引用次数: 6

摘要

提出了一种基于径向基函数人工神经网络的混合并联神经控制器构建多旋翼无人机飞行控制系统的新方法。隐层神经元的激活函数以一种允许在线训练的方式进行优化。结果表明，所提出的混合神经控制器比传统的手动配置PID控制器更有效。

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Hybrid parallel neuro-controller for multirotor unmanned aerial vehicle

This paper provides a new method of building a flight control system for multirotor unmanned aerial vehicle based on hybrid parallel neuro-controller that uses radial basis function artificial neural network. Activation functions of hidden layer neurons are optimized in a way that allows for online training. We show that proposed hybrid neuro-controller is more effective than traditional manually configured PID controller.

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来源期刊

2016 8th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)

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