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Algorithms
Volume 13
Issue 2
10.3390/a13020040
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Article

Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter

by
Javier Gomez-Avila
,
Carlos Villaseñor
,
Jesus Hernandez-Barragan
,
Nancy Arana-Daniel
*,
Alma Y. Alanis
and
Carlos Lopez-Franco
Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Blvd Marcelino García Barragán 1421, Guadalajara 44430, Mexico
*
Author to whom correspondence should be addressed.
Algorithms 2020, 13(2), 40; https://doi.org/10.3390/a13020040
Received: 19 December 2019 / Revised: 5 February 2020 / Accepted: 12 February 2020 / Published: 18 February 2020
(This article belongs to the Special Issue Algorithms for PID Controller 2019)
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Abstract

Flying robots have gained great interest because of their numerous applications. For this reason, the control of Unmanned Aerial Vehicles (UAVs) is one of the most important challenges in mobile robotics. These kinds of robots are commonly controlled with Proportional-Integral-Derivative (PID) controllers; however, traditional linear controllers have limitations when controlling highly nonlinear and uncertain systems such as UAVs. In this paper, a control scheme for the pose of a quadrotor is presented. The scheme presented has the behavior of a PD controller and it is based on a Multilayer Perceptron trained with an Extended Kalman Filter. The Neural Network is trained online in order to ensure adaptation to changes in the presence of dynamics and uncertainties. The control scheme is tested in real time experiments in order to show its effectiveness. View Full-Text
Keywords: PD controller; multilayer perceptron; extended kalman filter PD controller; multilayer perceptron; extended kalman filter
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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MDPI and ACS Style

Gomez-Avila, J.; Villaseñor, C.; Hernandez-Barragan, J.; Arana-Daniel, N.; Alanis, A.Y.; Lopez-Franco, C. Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter. Algorithms 2020, 13, 40. https://doi.org/10.3390/a13020040

AMA Style

Gomez-Avila J, Villaseñor C, Hernandez-Barragan J, Arana-Daniel N, Alanis AY, Lopez-Franco C. Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter. Algorithms. 2020; 13(2):40. https://doi.org/10.3390/a13020040

Chicago/Turabian Style

Gomez-Avila, Javier, Carlos Villaseñor, Jesus Hernandez-Barragan, Nancy Arana-Daniel, Alma Y. Alanis, and Carlos Lopez-Franco. 2020. "Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter" Algorithms 13, no. 2: 40. https://doi.org/10.3390/a13020040

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