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Quadrotor is a rotorcraft with four vertically oriented propellers.
Two of the propellers spin in clockwise direction and the other two
in the counter clockwise direction. For a Quadrotor Helicopter a
stabilizing controller is always needed. In this book Artificial
Neural Networks based Control Methodology to stabilize the a
Quadrotor Helicopoter, has been explained. Firstly a mathematical
model of Quadrotor is developed. A simplified approach is adopted
using momentum theory, where the gyroscopic effect and air friction
on machine's body has been neglected, resulting in a simplified
model which is useful in designing a controller to stabilize the
machine in hover state. The proposed model is nonlinear since the
rotor dynamics are function of square of motor inputs. In the
controller designing, Direct Inverse Neural Network Control
methodology is employed. For that matter 16,8,4-MLP, 16,16,4-MLP
and 16,64,4-MLP are used to control the Quadrotor plant. There
performance is compared using simulation results. Direct Inverse
Control using 16,64,4-MLP gives the best performance amongst all
the other considered.
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