Volume 17, Issue 10 (1-2018)
Modares Mechanical Engineering 2018, 17(10): 194-204 |
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Norouzi R, Shahbazi H, Jamshidi K. Design and Implementation of a Neural Intelligent Controller and a Hybrid PD Controller for Quadrotor. Modares Mechanical Engineering 2018; 17 (10) :194-204
URL: http://mme.modares.ac.ir/article-15-1385-en.html
URL: http://mme.modares.ac.ir/article-15-1385-en.html
Abstract: (3899 Views)
Quadrotor is a Flying robot which can fly vertically and has a simple structure. Because of nonlinear dynamics of the system, Stability of the control process has an important role in this robot. In this paper, a neural controller is designed to stabilize the quadrotor. The neural controller is used to stabilize the attitude of the quadrotor. We first designed a PD controller using Ziegler Nichols method, then an online learner neural controller is trained for tuning the parameters of this PD controller. To verify these controllers first a simulation performed in the Simulink environment of the Matlab. In addition to simulation we have practically implemented these control methods on a Quadrotor test bench. Practical implementation results demonstrate the effectiveness of the presented method.
Article Type: Research Article |
Subject:
Mechatronics
Received: 2017/04/21 | Accepted: 2017/08/27 | Published: 2017/10/20
Received: 2017/04/21 | Accepted: 2017/08/27 | Published: 2017/10/20
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