基于RBF神经网络的四旋翼无人机模型参考自适应控制

2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2018-08-01 DOI:10.1109/GNCC42960.2018.9019021

Mengqian Liu, Xiwang Dong, Qingdong Li, Z. Ren

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引用次数: 0

摘要

将基于RBF神经网络的模型参考控制方法应用于四旋翼飞行器的姿态控制。对四旋翼飞行器的模型进行了构造和简化，得到了与系统同阶的参考模型。采用梯度下降法对RBF进行训练。仿真实验表明，基于RBF的MRAC对参数未知和变化的非线性四旋翼系统具有良好的跟踪性能。

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Model Reference Adaptive Control of a Quadrotor UAV based on RBF Neural Networks

In this paper, a model reference control method based on RBF neural networks is applied to attitude control of quadrotor. The model of a quadrotor is constructed and simplified to obtain the reference model in the same order as the plant. The RBF is trained by using the gradient descent method. Through simulation experiments, MRAC based on RBF has presented good tracking performance on the nonlinear quadrotor system with unknown and changing parameters.

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来源期刊

2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)

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