DR-SNAC Aided Dynamic Inversion Controller for Robust Trajectory Tracking of a Micro-Quadrotor
| Autor: | Radhakant Padhi, Shivendra N. Tiwari |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
Engineering
Artificial neural network business.industry Open-loop controller Aerospace Engineering(Formerly Aeronautical Engineering) Control engineering Inversion (meteorology) Attitude control Control theory Robustness (computer science) Scalability A priori and a posteriori Closed-form expression business |
| Zdroj: | IndraStra Global. |
| ISSN: | 2381-3652 |
| Popis: | A dynamically reoptimized single network adaptive critic (SNAC) aided dynamic inversion controller is presented in this paper, where an offline trained SNAC op-timal controller is modified with the help of another neural network trained online so as to dynamically re-optimize it for the real plant. This is done by updating the plant model in real-time with the help of yet another neural network trained online. The resulting optimal controller is then mapped to a dynamic inversion controller structure online. As a result, it brings in two major advantages, namely (i) a stabi-lizing closed form expression of the controller and (ii) easy scalability to command tracking application even without apriori knowledge of the reference command. Ef-fectiveness of the proposed controller is demonstrated by applying it for attitude control and trajectory tracking of a micro-quadrotor, which is a challenging prob-lem due to its small size, negligible aerodynamic damping as well as strong coupling in pitch-yaw-roll channels. It has been demonstrated from six degree-of-freedom simulations that the controller is capable of achieving the intended objective and has good robustness as well. |
| Databáze: | OpenAIRE |
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