کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8050520 | 1519354 | 2017 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Control Neuronal en LÃnea para Regulación y Seguimiento de Trayectorias de Posición para un Quadrotor
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
Automatic control systems every day become more important in everyday life; therefore, it must find new and better ways to incorporate mathematical models and adaptive control algorithms to cope with a number of technical and physical challenges for exploitation. In this paper, the algorithm of the dynamic model of a Quadrotor applied to an angular position and trajectory control as a study case is detailed. Due to nonlinear nature of this type of systems, an adaptive on line neurocontroller algorithm based on B-spline neural networks is proposed, the learning procedure is divided in two stages: a) an initial off line training and; b) an on line continuous learning. This form of learning allows the Quadrotor extend its satisfactory performance at different operating conditions and trajectory tracking. The simulation results demonstrate the applicability of the developed model and the impact of dynamic control on the system performance, diminishing the exact model requirement and the possibility to incorporate the system non linearities.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Revista Iberoamericana de Automática e Informática Industrial RIAI - Volume 14, Issue 2, AprilâJune 2017, Pages 141-151
Journal: Revista Iberoamericana de Automática e Informática Industrial RIAI - Volume 14, Issue 2, AprilâJune 2017, Pages 141-151
نویسندگان
Hugo Yañez-Badillo, Ruben Tapia-Olvera, Omar Aguilar-MejÃa, Francisco Beltran-Carbajal,