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Jisheng Li thesis for Ohiolink.pdf (1002.63 KB)

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Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances

Li, Jisheng
http://orcid.org/0000-0001-9563-5479
http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110

Abstract Details

2016, Master of Science, University of Toledo, Mechanical Engineering.
UAVs have become increasingly popular around the world both in civilian and military application within the past few years. UAV applications are essentially fueled by advances in a combination of technologies, such as communication, embedded systems, processing, sensing and algorithms. This thesis focuses on the control aspect of UAVs, particularly lots of work has been carried out in this area recently. This thesis mainly focuses on the performance of control algorithms under wind disturbances. Recent works that include an adaptive controller and a PD controller are discussed. Then the thesis proposes a neural PD controller, in which the neural network is added to the outer PD control loop. A comparison between neural PD controller and PD controller under various scenarios of wind disturbances is carried out. The results show neural PD controller performs better than the PD controller in position tracking under wind disturbances.
Manish Kumar (Committee Chair)
Mohammad Elahninia (Committee Member)
Abdollah Afjeh (Committee Member)
106 p.
Mechanical Engineering
adaptive controller; PD controller; neural PD controller; wind disturbance

Recommended Citations

Citations

  • Li, J. (2016). Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances [Master's thesis, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110

    APA Style (7th edition)

  • Li, Jisheng. Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances. 2016. University of Toledo, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110.

    MLA Style (8th edition)

  • Li, Jisheng. "Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances." Master's thesis, University of Toledo, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1460981110

    Chicago Manual of Style (17th edition)

toledo1460981110
896
© 2016, some rights reserved.Creative Commons License Development of a Neural PD Controller for Quad-rotors for Rejection of Wind Disturbances by Jisheng Li is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Toledo and OhioLINK.