Quad-Rotor Application of an Introspective Weight Voting Cerebellar Model Articulation Controller
Date
2015-09-08
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Abstract
A quad-rotor is an agile, four rotor aerial vehicle capable of operating in a variety of environments while carrying diverse payloads. This mobile platform has been applied in numerous fields including surveillance, search \& rescue, mapping, and most recently, package delivery. However, the quad-rotor is an underdamped and underactuated vehicle that requires a stable control which must be robust to environmental disturbances, such as wind, and adaptive to diverse payloads. The Cerebellar Model Articulation Controller (CMAC) is an adaptive control that has proven itself to be stable in the literature. However, even mathematically robust weight update schemes for the CMAC have been shown to exhibit a detrimental bursting phenomenon especially in practice. This work applies an introspective weight voting scheme to a CMAC to provide a stable, adaptive, robust quad-rotor control scheme in both simulation and practice.
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Computer Science, Engineering--Electronics and Electrical, Robotics
Citation
Clark, T. (2015). Quad-Rotor Application of an Introspective Weight Voting Cerebellar Model Articulation Controller (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/27489