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Register a new userDesign Adaptive Controller for Unmanned Aerial Vehicle
تصميم متحكم عصبوني لطائرة مسيرة
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تم في هذا البحث التعرف على الطائرة المسيرة UAV كجملة غير خطيّة و تمّ تحصيل نموذج محاكي لهذه الجملة باستخدام إصدارات AiroSim. في المرحلة الأولى أجري تقريب النموذج غير الخطي للطائرة بنموذج خطي عند نقطة طيران معيّنة (نقطة توازن)، و تم تصميم متحكم تقليدي بالقنالين الطولي و العرضي باستخدام النموذج الخطي. في المرحلة التالية طبقنا المتحكّم التقليدي السابق على النموذج غير الخطي عند نقطة العمل السابقة نفسيها، و من ثمّ تم تعزيز المتحكم التقليدي المصمم بإدخال شبكة عصبونية إلى الجملة تقوم بعملية تعويض الخطأ الناتج عن تقريب النموذج غير الخطي بنموذج خطي.
The nonlinear model of Unmanned Aerial Vehicle( UAV) has been recognized. Airosim Matlab toolbox has been used to guarantee a simulation model for the Aerosonde.In the first stage, a linearization technique is used to calculate the mathematical model of the UAV at a specific operation point, then PID controller is used to stabilize this linear model. At the final stage, an augmented feedback neural network adaptive controller is applied to stabilize the overall nonlinear system.
References used
Anderson, John David ,2005-Introduction to flight. volume 199. McGraw-Hill Boston 636p
Stevens, Brian L and Lewis, Frank L2003 -Aircraft control and simulation. John Wiley & Sons
Dydek, Zachary Thompson, 2010-Adaptive control of unmanned aerial systems. PhD thesis, Massachusetts Institute of Technology,129p
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