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Disturbances Based Adaptive Neuro-Control for UAVs: A First Approach

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International Joint Conference SOCO’18-CISIS’18-ICEUTE’18 (SOCO’18-CISIS’18-ICEUTE’18 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 771))

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Abstract

In this work an adaptive neuro-control is proposed to cope with some external disturbances that can affect unmanned aerial vehicles (UAV) dynamics, specifically: the variation of the system mass during logistic tasks and the influence of the wind. An intelligent control strategy based on a feedforward neural networks is applied. In particular, a variant of the generalized learning algorithm has been used. Simulation results show how the on-line learning increases the robustness of the controller, reducing the effects of the changes in mass and the effects of wind on the UAV stabilization, thus improving the system response. It has been compared with a PID controller obtaining better results.

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Author information

Authors and Affiliations

  1. Computer Science Faculty, Complutense University of Madrid, Madrid, Spain

    J. Enrique Sierra & Matilde Santos

Authors
  1. J. Enrique Sierra
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  2. Matilde Santos
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Corresponding author

Correspondence to Matilde Santos .

Editor information

Editors and Affiliations

  1. Computational Intelligence Group, University of the Basque Country, Sarriena, Vizcaya, Spain

    Manuel Graña

  2. Computational Intelligence Group, University of the Basque Country, Sarriena, Vizcaya, Spain

    José Manuel López-Guede

  3. Computational Intelligence Group, University of the Basque Country, Sarriena, Vizcaya, Spain

    Oier Etxaniz

  4. Department of Civil Engineering, University of Burgos, Burgos, Burgos, Spain

    Álvaro Herrero

  5. University of Salamanca, Salamanca, Salamanca, Spain

    José Antonio Sáez

  6. Department of Industrial Engineering, University of A Coruña, La Coruña, La Coruña, Spain

    Héctor Quintián

  7. University of Salamanca, Salamanca, Salamanca, Spain

    Emilio Corchado

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Sierra, J.E., Santos, M. (2019). Disturbances Based Adaptive Neuro-Control for UAVs: A First Approach. In: Graña, M., et al. International Joint Conference SOCO’18-CISIS’18-ICEUTE’18. SOCO’18-CISIS’18-ICEUTE’18 2018. Advances in Intelligent Systems and Computing, vol 771. Springer, Cham. https://doi.org/10.1007/978-3-319-94120-2_28

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