Abstract:
This paper proposes an adaptive control for a quadrotor drone with uncertain dynamics and subject to unknown disturbances. Radial Base Function Neural Network (RBFNN) is ...Show MoreMetadata
Abstract:
This paper proposes an adaptive control for a quadrotor drone with uncertain dynamics and subject to unknown disturbances. Radial Base Function Neural Network (RBFNN) is used to approximate the unknowns in the system. The output layer of the RBFNN is used as a compensator that estimates and eventually eliminates the physical uncertainties along with an adaptive controller designed to give robustness to the system. Hence, faster error convergence can be achieved. The closed loop system was analyzed by a Lyapunov function and the proposed controller performance is tested by Matlab/Simulink. The results prove the efficiency of the proposed system.
Date of Conference: 07-11 June 2022
Date Added to IEEE Xplore: 06 July 2022
ISBN Information: