A robust adaptive neural network control for a quadrotor helicoptor

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dc.contributor.advisorMacnab, Chris
dc.contributor.advisorRamirez-Serrano, Alejandro
dc.contributor.authorNicol, Christopher Edmond
dc.date.accessioned2017-12-18T22:04:48Z
dc.date.available2017-12-18T22:04:48Z
dc.date.issued2010
dc.descriptionBibliography: p. 112-117en
dc.description.abstractA quadrotor helicopter is a highly nonlinear and open-loop unstable system, presenting significant challenges in terms of control design. This thesis proposes a neural network based controller, which makes use of a new robust technique to avoid weight drift caused by persistent disturbances, and describes the development of a working prototype for testing purposes. The controller consists of an adaptive neural network for attitude/ altitude control and adaptation, and a position control to design roll and pitch angles/velocities. When the new robust technique is applied in simulation, results demonstrate the control design is able to stabilize the quadrotor, while avoiding weight drift. After implementing the adaptive neural network on the prototype, experiments demonstrate that the control is able to stabilize the quadrotor, that nonlinear techniques provide a wider operating range than linear controls, and that weight drift is as much of a problem practically, as it is theoretically.
dc.format.extentxiv, 168 leaves : ill. ; 30 cm.en
dc.identifier.citationNicol, C. E. (2010). A robust adaptive neural network control for a quadrotor helicoptor (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/3364en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/3364
dc.identifier.urihttp://hdl.handle.net/1880/104365
dc.language.isoeng
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.titleA robust adaptive neural network control for a quadrotor helicoptor
dc.typemaster thesis
thesis.degree.disciplineElectrical and Computer Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 1953 627942796
ucalgary.thesis.notesUARCen
ucalgary.thesis.uarcreleaseyen
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