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Register a new userPerforming Cerebellar Model Articulation Controller to enhance the response of quadcopter system
إنجاز متحكم ذو نموذج مخيخي لتحسين استجابة نظام رباعية المحرك
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تقدم هذه الدراسة تصميماً لمتحكم يعتمد على بنية النموذج المخيخي لرباعية المحرك. تمت محاكاة النظام و المتحكم ذو النموذج المخيخي المعتمد على المتحكم PID باستخدام الحزمة البرمجية ماتلاب ، و تمت مقارنة أداء النظام في ظل وجود ضجيج عند استخدام المتحكم PID العادي فقط و عند استخدام النموذج المخيخي المعتمد على المتحكم PID و أظهرت النتائج أن الطريقة الأخيرة تضمن أداء الاستقرار الجيد. كما تمت مقارنة النظام مع المتحكم ذو النموذج المخيخي المقترح مع نظامين يستخدمان النموذج المخيخي لهما هيكلية تختلف عن الهيكلية المقترحة.
This paper presents a robust cerebellar model articulation controller (CMAC) for quadcopter system. We simulate this systems by using Matlab and Simulink, and we find that this control guarantees good balance performance and acceptable robust performance. And we compare our CMAC with other systems using CMAC but in structures differ of our CMAC structure.
References used
Domingues, J. (2009): Quadrotor prototype, Universidade Tecnic de Lisboa
Whidborne,J. (2007): Modelling And Linear Control Of A Quadrotor, Cranfield University
Sørensen, A. (2010): Autonomous Control of a Miniature Quadrotor Following Fast Trajectories, Aaloborg University
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