Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances
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University of Toledo / OhioLINK
2016
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-toledo14609811102021-08-03T06:35:45Z Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances Li, Jisheng Mechanical Engineering adaptive controller PD controller neural PD controller wind disturbance UAVs have become increasingly popular around the world both in civilian and military application within the past few years. UAV applications are essentially fueled by advances in a combination of technologies, such as communication, embedded systems, processing, sensing and algorithms. This thesis focuses on the control aspect of UAVs, particularly lots of work has been carried out in this area recently. This thesis mainly focuses on the performance of control algorithms under wind disturbances. Recent works that include an adaptive controller and a PD controller are discussed. Then the thesis proposes a neural PD controller, in which the neural network is added to the outer PD control loop. A comparison between neural PD controller and PD controller under various scenarios of wind disturbances is carried out. The results show neural PD controller performs better than the PD controller in position tracking under wind disturbances. 2016 English text University of Toledo / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110 http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110 unrestricted This thesis or dissertation is protected by copyright: some rights reserved. It is licensed for use under a Creative Commons license. Specific terms and permissions are available from this document's record in the OhioLINK ETD Center. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Mechanical Engineering adaptive controller PD controller neural PD controller wind disturbance |
| spellingShingle |
Mechanical Engineering adaptive controller PD controller neural PD controller wind disturbance Li, Jisheng Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| author |
Li, Jisheng |
| author_facet |
Li, Jisheng |
| author_sort |
Li, Jisheng |
| title |
Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| title_short |
Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| title_full |
Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| title_fullStr |
Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| title_full_unstemmed |
Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances |
| title_sort |
development of a neural pd controller for quad-rotors for rejection of wind disturbances |
| publisher |
University of Toledo / OhioLINK |
| publishDate |
2016 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110 |
| work_keys_str_mv |
AT lijisheng developmentofaneuralpdcontrollerforquadrotorsforrejectionofwinddisturbances |
| _version_ |
1719439758563737600 |