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dc.contributor.author
Rosales, Claudio Dario
dc.contributor.author
Soria, Carlos Miguel
dc.contributor.author
Rossomando, Francisco Guido
dc.date.available
2019-11-19T21:41:33Z
dc.date.issued
2019-01
dc.identifier.citation
Rosales, Claudio Dario; Soria, Carlos Miguel; Rossomando, Francisco Guido; Identification and adaptive PID Control of a hexacopter UAV based on neural networks; John Wiley & Sons Ltd; International Journal of Adaptive Control and Signal Processing; 33; 1; 1-2019; 74-91
dc.identifier.issn
0890-6327
dc.identifier.uri
http://hdl.handle.net/11336/89232
dc.description.abstract
In this paper, a novel adaptive PID controller for trajectory-tracking tasks is proposed. It is implemented in discrete time over a hexacopter, and it takes into consideration the unmanned aerial vehicles (UAVs) nonlinear model. The PID controller is developed following an adaptive neural technique, and its stability is verified by the Lyapunov discrete theory. Besides, the neural identification of the dynamic model of the UAV is presented to backpropagate output errors to adjust PID gains with the purpose of reducing the control errors. The validation of the proposed algorithm is performed through experimental results with a hexacopter.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
John Wiley & Sons Ltd
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
ADAPTIVE PID
dc.subject
DISCRETE STABILITY ANALYSIS
dc.subject
HEXACOPTER
dc.subject
IDENTIFICATION
dc.subject
NEURAL NETWORKS
dc.subject.classification
Control Automático y Robótica
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Identification and adaptive PID Control of a hexacopter UAV based on neural networks
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2019-10-17T14:56:02Z
dc.journal.volume
33
dc.journal.number
1
dc.journal.pagination
74-91
dc.journal.pais
Reino Unido
dc.journal.ciudad
Londres
dc.description.fil
Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.journal.title
International Journal of Adaptive Control and Signal Processing
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://onlinelibrary.wiley.com/doi/full/10.1002/acs.2955
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1002/acs.2955
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