Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors
In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are cons...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/6460156 |
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| _version_ | 1832556747921817600 |
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| author | Jesús Enrique Sierra Matilde Santos |
| author_facet | Jesús Enrique Sierra Matilde Santos |
| author_sort | Jesús Enrique Sierra |
| collection | DOAJ |
| description | In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered. An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance. The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one. During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced. Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor. |
| format | Article |
| id | doaj-art-6d81f6a98cf94454a76b5aa6d0ff2e7b |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-6d81f6a98cf94454a76b5aa6d0ff2e7b2025-02-03T05:44:27ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/64601566460156Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on QuadrotorsJesús Enrique Sierra0Matilde Santos1Computer Science Faculty, Complutense University of Madrid, 28040 Madrid, SpainComputer Science Faculty, Complutense University of Madrid, 28040 Madrid, SpainIn this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered. An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance. The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one. During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced. Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor.http://dx.doi.org/10.1155/2019/6460156 |
| spellingShingle | Jesús Enrique Sierra Matilde Santos Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors Complexity |
| title | Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors |
| title_full | Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors |
| title_fullStr | Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors |
| title_full_unstemmed | Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors |
| title_short | Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors |
| title_sort | wind and payload disturbance rejection control based on adaptive neural estimators application on quadrotors |
| url | http://dx.doi.org/10.1155/2019/6460156 |
| work_keys_str_mv | AT jesusenriquesierra windandpayloaddisturbancerejectioncontrolbasedonadaptiveneuralestimatorsapplicationonquadrotors AT matildesantos windandpayloaddisturbancerejectioncontrolbasedonadaptiveneuralestimatorsapplicationonquadrotors |