Unmanned Aerial Vehicles (UAVs) are recently attracting significant research attention due to their potential applications in many fields. Hexacopter UAV offers higher payloads handling and faults tolerance than a quadcopter but its control is a demanding task. In this paper, an adaptive Neural Networks (NN) controller is proposed for altitude tracking and attitude stabilization of a hexacopter UAV with uncertain dynamics. The controller design, simulation and robustness against gust disturbances are discussed. Also, the controller performance is compared with a standard Filtered-Proportional-Derivative-Integrator (FPID) controller for different control scenarios.
Adaptive Neural Altitude Control and Attitude Stabilization of a Hexacopter with Uncertain Dynamics
01.07.2019
633354 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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