Quad-Rotor Application of an Introspective Weight Voting Cerebellar Model Articulation Controller

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atmire.migration.oldid3521
dc.contributor.advisorMacnab, Chris
dc.contributor.authorClark, Troy
dc.date.accessioned2015-09-08T16:25:58Z
dc.date.available2015-11-20T08:00:38Z
dc.date.issued2015-09-08
dc.date.submitted2015en
dc.description.abstractA 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.en_US
dc.identifier.citationClark, 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/27489en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/27489
dc.identifier.urihttp://hdl.handle.net/11023/2439
dc.language.isoeng
dc.publisher.facultyGraduate Studies
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.subjectComputer Science
dc.subjectEngineering--Electronics and Electrical
dc.subjectRobotics
dc.subject.classificationCerebellar Model Articulation Controlleren_US
dc.subject.classificationQuad-rotoren_US
dc.subject.classificationNeural Networken_US
dc.subject.classificationAdaptive Controlen_US
dc.subject.classificationIntrospective Voting Weight Updateen_US
dc.subject.classificationLyapunov Stableen_US
dc.subject.classificationCMACen_US
dc.subject.classificationBurstingen_US
dc.subject.classificationAR.Drone 2.0en_US
dc.subject.classificationSimulationen_US
dc.subject.classificationExperimenten_US
dc.titleQuad-Rotor Application of an Introspective Weight Voting Cerebellar Model Articulation Controller
dc.typemaster thesis
thesis.degree.disciplineElectrical and Computer Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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