Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control

In this study, a neural network–based direct inverse control (DIC) approach was developed and simulated to control various maneuvers of an unmanned aerial vehicle (UAV) quadcopter. The aim was to propose an inner loop control algorithm for UAV quadcopter maneuvers using a neural network–based DI...

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Autores principales:	M Ary Heryanto, Benyamin Kusumoputro
Formato:	article
Lenguaje:	EN
Publicado:	Universitas Indonesia 2021
Materias:	backpropagation direct inverse control maneuver neural network quadcopter Technology T Technology (General) T1-995
Acceso en línea:	https://doaj.org/article/74f997706ef04550809c6239e26b223c
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spelling	oai:doaj.org-article:74f997706ef04550809c6239e26b223c2021-12-02T17:20:12ZAttitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control2086-96142087-210010.14716/ijtech.v12i4.3928https://doaj.org/article/74f997706ef04550809c6239e26b223c2021-10-01T00:00:00Zhttps://ijtech.eng.ui.ac.id/article/view/3928https://doaj.org/toc/2086-9614https://doaj.org/toc/2087-2100In this study, a neural network–based direct inverse control (DIC) approach was developed and simulated to control various maneuvers of an unmanned aerial vehicle (UAV) quadcopter. The aim was to propose an inner loop control algorithm for UAV quadcopter maneuvers using a neural network–based DIC system. The appropriate connection weights of neurons in the controller were determined through a backpropagation learning algorithm using real quadcopter maneuver flight data. The neural network–based DIC was trained and then tested using a trajectory dataset different from the training dataset. The experimental results showed that the neural network–based DIC could follow the maneuvers of the testing trajectory dataset with excellent performance, as indicated by an overall mean squared error (MSE) of 1.461 and attitude MSEs of 3.104 for roll, 0.889 for pitch, 1.834 for yaw and 0.018 for altitude. These results indicate that the proposed artificial neural network–based DIC can be used to control the attitude and altitude of the quadcopter during maneuvers.M Ary HeryantoBenyamin KusumoputroUniversitas Indonesiaarticlebackpropagationdirect inverse controlmaneuverneural networkquadcopterTechnologyTTechnology (General)T1-995ENInternational Journal of Technology, Vol 12, Iss 4, Pp 843-853 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	backpropagation direct inverse control maneuver neural network quadcopter Technology T Technology (General) T1-995
spellingShingle	backpropagation direct inverse control maneuver neural network quadcopter Technology T Technology (General) T1-995 M Ary Heryanto Benyamin Kusumoputro Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
description	In this study, a neural network–based direct inverse control (DIC) approach was developed and simulated to control various maneuvers of an unmanned aerial vehicle (UAV) quadcopter. The aim was to propose an inner loop control algorithm for UAV quadcopter maneuvers using a neural network–based DIC system. The appropriate connection weights of neurons in the controller were determined through a backpropagation learning algorithm using real quadcopter maneuver flight data. The neural network–based DIC was trained and then tested using a trajectory dataset different from the training dataset. The experimental results showed that the neural network–based DIC could follow the maneuvers of the testing trajectory dataset with excellent performance, as indicated by an overall mean squared error (MSE) of 1.461 and attitude MSEs of 3.104 for roll, 0.889 for pitch, 1.834 for yaw and 0.018 for altitude. These results indicate that the proposed artificial neural network–based DIC can be used to control the attitude and altitude of the quadcopter during maneuvers.
format	article
author	M Ary Heryanto Benyamin Kusumoputro
author_facet	M Ary Heryanto Benyamin Kusumoputro
author_sort	M Ary Heryanto
title	Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
title_short	Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
title_full	Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
title_fullStr	Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
title_full_unstemmed	Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control
title_sort	attitude and altitude control of quadcopter maneuvers using neural network–based direct inverse control
publisher	Universitas Indonesia
publishDate	2021
url	https://doaj.org/article/74f997706ef04550809c6239e26b223c
work_keys_str_mv	AT maryheryanto attitudeandaltitudecontrolofquadcoptermaneuversusingneuralnetworkbaseddirectinversecontrol AT benyaminkusumoputro attitudeandaltitudecontrolofquadcoptermaneuversusingneuralnetworkbaseddirectinversecontrol
_version_	1718381033316941824

Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control

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