MATEC Web of Conferences
Volume 34, 20152015 2nd International Conference on Mechatronics and Mechanical Engineering (ICMME 2015)
|Number of page(s)||4|
|Section||Control theory and technology|
|Published online||11 December 2015|
Optimized direct inverse control to control altitude of a small helicopter
1 Universitas Indonesia in Depok, Indonesia
2 on leave from Universitas Dian Nuswantoro, in Semarang, Indonesia
In this paper, an optimization of a direct inverse control (DIC) algorithm is discussed. The DIC algorithm is constructed by using a neural network that was trained to find the mathematical inverse model of the plant. In the case of a DIC to control a small helicopter as a UAV in our case, it is required to collect the flight experiment data, such as the PWM signal into servo motors, and the flight output such as the pitch, roll, yaw and the altitude. By using a real small helicopter TREX 450, the neural network based DIC model was performed with an acceptable of error, however, in order to have a better performance, an optimized neural network DIC model is proposed by retraining the neural networks DIC model using a new data generated from a determined optimal reference pathway. The experiment results show that the optimized neural networks DIC model have a better performance with lower total error rate compare with that of the un-optimized neural networks DIC model.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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