Design and Practical Implementation of a Feed-Forward Neural Observer to Control Quadrotor

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Norouzi Rouhollah; SHAHBAZI HAMED

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: IRANIAN JOURNAL OF MECHANICAL ENGINEERING (ENGLISH) Year:2019 | Volume:21 | Issue:1 Page(s): 97-115

Download Full-Text

Persian Verion

View:

525

Download:

Cites:

Information Journal Paper

Title

Design and Practical Implementation of a Feed-Forward Neural Observer to Control Quadrotor

Author(s)

Norouzi Rouhollah | SHAHBAZI HAMED | Issue Writer Certificate

Keywords

quadrotorQ1

neural observerQ1

PD controlQ1

Particle Swarm Optimization AlgorithmQ1

Practical ImplementationQ1

Abstract

In this paper a neural observer is deigned to control a quadrotor Drone. quadrotor is a type of flying robot which can fly vertically and has a simple structure. This robot is one of the best models of flying robot that is considered by many researchers recently. Because of nonlinear dynamics of the system, Stability of the control process has an important role in this robot. In this study first, a PD controller is designed to track the desired state and stabilizing the quadrotor based on Particle Swarm Optimization Algorithm. Nonlinear observer is then synthesized in order to estimate the unmeasured states. Then a neural network observer is designed and trained based on data that extract of nonlinear observer. After that, simulation results are also provided in order to illustrate the performances of the proposed controller and observer. Finally In addition to simulation we have practically implemented these control and observer methods on a quadrotor test bench. Practical Implementation results demonstrate the effectiveness of the presented method.

Cites

No record.

References

No record.

Cite

APA: Copy

Norouzi, Rouhollah, & SHAHBAZI, HAMED. (2019). Design and Practical Implementation of a Feed-Forward Neural Observer to Control Quadrotor. JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH), 21(1 ), 97-115. SID. https://sid.ir/paper/83516/en

Vancouver: Copy

Norouzi Rouhollah, SHAHBAZI HAMED. Design and Practical Implementation of a Feed-Forward Neural Observer to Control Quadrotor. JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH)[Internet]. 2019;21(1 ):97-115. Available from: https://sid.ir/paper/83516/en

IEEE: Copy

Rouhollah Norouzi, and HAMED SHAHBAZI, “Design and Practical Implementation of a Feed-Forward Neural Observer to Control Quadrotor,” JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH), vol. 21, no. 1 , pp. 97–115, 2019, [Online]. Available: https://sid.ir/paper/83516/en

Related Journal Papers