طراحی و پیاده سازی عملی مشاهده‌گر به کمک شبکه عصبی پیشخور جهت کنترل پهپاد چهارپره

نوع مقاله: مقاله علمی پژوهشی

نویسندگان

گروه مهندسی مکانیک، دانشگاه صنعتی اصفهان

چکیده

پایداری کوادروتور به دلیل دینامیک شدیدا غیر خطی از مهمترین مسایل پیش روی محققان در طراحی این ربات بوده است. در این مقاله ابتدا به طراحی یک کنترلرکلاسیک تناسبی- مشتق‌گیر به روش تنظیم با الگوریتم تکاملی ازدحام ذرات برای کنترل وضعیت پرنده پرداخته شده است. سپس به طراحی یک مشاهده‌گر غیر خطی برای تخمین حالتهای سرعت زاویه ای کوادروتور پرداخته شده است. در ادامه یک مشاهده‌گر شبکه عصبی با استفاده از داده‌های اموزشی استخراج شده از مشاهده‌گر غیرخطی اموزش داده شده‌است. با شبیه‌سازی کنترلر و مشاهده‌گر طراحی شده در محیط متلب، کارایی انها مشخص شده است.

کلیدواژه‌ها

موضوعات


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