Adaptive PID Control Based on RBF NN For Quadrotor
Journal Title: International Research Journal of Applied and Basic Sciences - Year 2017, Vol 11, Issue 2
Abstract
An adaptive PID decoupling control strategy based on Radial Basis Function (RBF) neural network (NN) is presented in this paper. Quadrotor UAV is a kind of under actuated system with multiple inputs and strong coupling, manual optimization of PID control parameter for the quadrotor aircraft is time consuming, and it is difficult to achieve good control effect. Based on the theory of optimization in groups, the parameters such as proportion, integration and differentiation of PID controller are tuned on-line using the self-learning ability of RBFNN, and the corresponding decoupling control law is achieved by conventional PID control algorithm. Simulation results show that the dynamic decoupling and completely static decoupling are obtained, the closed loop system has the advantages of higher speed response and stronger robustness.
Authors and Affiliations
Hadi Hasanpour| Department of Electrical Engineering, Khomeinishahr Branch, Islamic Azad University, Khomeinishahr/Isfahan, Iran. email:hadihasanpor@live.com, Mohsen Heydari Beni| Mechanical Engineering Department, Shahrekord University, Shahrekord, Iran., Masood Askari| Academic Center for Education Culture & Research IUT Branch.
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