This paper presents an on-line estimator that incorporates adaptive MIMO radical basis function neural networks (RBFNNs) for model identification of quadrotor unmanned aerial vehicles (UAVs). The inputs and outputs of...
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ISBN:
(纸本)9781509061914
This paper presents an on-line estimator that incorporates adaptive MIMO radical basis function neural networks (RBFNNs) for model identification of quadrotor unmanned aerial vehicles (UAVs). The inputs and outputs of quadrotor aircrafts can be obtained from dynamic models or real attitude and position sensors. The adaptive learning rate is employed in the gradient descent method for the update of the weights of RBFNNs, and Lyapunov approach guarantees the stability of the global convergence of the modeling errors. The Welsch functions are also employed as the error functions to get rid of the influence from the noise due to disturbances like wind gusts. Simulation results using robotics Toolbox for Matlab verify the effectiveness and robustness of the proposed estimator compared with results of traditional RBFNNs. Experiment results from real aircraft platform show that RBFNNs combining adaptive learning rate and Welsch error functions can approximate the overall system with high accuracy and robustness to disturbances.
This paper provides a context within which the role of human factors engineering (HFE) for Naval ship design may be understood. HFE is defined and its history as part of engineering design teams is traced. The role of...
This paper provides a context within which the role of human factors engineering (HFE) for Naval ship design may be understood. HFE is defined and its history as part of engineering design teams is traced. The role of HFE in ship systems design is defined, and the HFE technology for Ships Program, managed by SEA 061R, is described. The rationale for inclusion of HFE in the design process is presented, the methodology whereby it is incorporated into the design process is detailed, methodology to assess the application of HFE is outlined, and the benefits that will accrue as a result of inclusion of HFE considerations in the design process are documented. The counterpoint to inclusion is illustrated through instances of design-induced human errors. A specific application of HFE in the acquisition process is illustrated through use of the Landing Craft, Air Cushion HFE program plan. The difficulties which may be encountered as the size of the target system expands are described. Potential roadblocks to the required incorporation of HFE are examined for their source and possible ameliorative steps.
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