This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocat...
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This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations *** network training is performed offline,which requires low computational *** target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation *** a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small *** compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the *** was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve *** allocation error was also determined in both ***,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.
For Japan, one of the world's leading "disaster-prone countries," measures are required to reduce or prevent damage caused by disasters as much as possible to ensure the people's safe and secure live...
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作者：
Gurluk, AyseBilal, Hafiz MuhammadHocaoglu, ElifLiving Robotics Laboratory
Graduate School of Health Sciences Physiotherapy and Rehabilitation Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory
Graduate School of Engineering and Natural Sciences Electrical-Electronics Engineering and Cyber-Systems Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory
Department of Electrical and Electronics Engineering Istanbul Medipol University Istanbul Turkey
This study presents a more accurate evaluation method for assessing ankle spasticity compared to conventional goniometric techniques by utilizing measurements obtained from Inertial Measurement Units (IMU) and surface...
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