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DR-SNAC Aided Dynamic Inversion Controller for Robust Trajectory Tracking of a Micro-Quadrotor

Tiwari , Shivendra N and Padhi, Radhakant (2013) DR-SNAC Aided Dynamic Inversion Controller for Robust Trajectory Tracking of a Micro-Quadrotor. In: AIAA Guidance, Navigation, and Control (GNC) Conference, Guidance, Navigation, and Control and Co-located Conferences, (AIAA 2013-4533) , August 19-22, 2013, Boston, Massachusetts.

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Official URL: http://dx.doi.org/10.2514/6.2013-4533

Abstract

A dynamically reoptimized single network adaptive critic (SNAC) aided dynamic inversion controller is presented in this paper, where an offline trained SNAC op-timal controller is modified with the help of another neural network trained online so as to dynamically re-optimize it for the real plant. This is done by updating the plant model in real-time with the help of yet another neural network trained online. The resulting optimal controller is then mapped to a dynamic inversion controller structure online. As a result, it brings in two major advantages, namely (i) a stabi-lizing closed form expression of the controller and (ii) easy scalability to command tracking application even without apriori knowledge of the reference command. Ef-fectiveness of the proposed controller is demonstrated by applying it for attitude control and trajectory tracking of a micro-quadrotor, which is a challenging prob-lem due to its small size, negligible aerodynamic damping as well as strong coupling in pitch-yaw-roll channels. It has been demonstrated from six degree-of-freedom simulations that the controller is capable of achieving the intended objective and has good robustness as well.

Item Type: Conference Proceedings
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Additional Information: Copy right for this article belongs to the AIAA Guidance, Navigation, and Control (GNC) Conference, Guidance, Navigation, and Control and Co-located Conferences, (AIAA 2013-4533)
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 25 Aug 2016 10:13
Last Modified: 25 Aug 2016 10:13
URI: http://eprints.iisc.ernet.in/id/eprint/54601

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