Neural Network Control for Quadrotors

Osman Çakir, Tolga Yüksel

Abstract


While quadrotors are becoming more popular, their controllers should be improved. In this study, neural network control of quadrotors is aimed to obtain an artificial intelligence based controller. Firstly, the quadrotor is modeled according to quadrotor dynamics. Then, PD controllers for x, y, yaw and z control of quadrotor are implemented as classical controllers. The results for these controllers are recorded as training data of NN controllers. As the proposed controllers, NN controllers are trained according to these data and performance of these results are examined. The results verify that NN controllers achieve good trajectory tracking results.


Keywords


Quadrotors; neural networks.

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References


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