신경회로망을 이용한 쿼드로터의 자세 제어에 관한 연구

Abstract

Recently, the studies of the Unmanned Aerial Vehicle(UAV) has been studied a variety from military aircraft to civilian aircraft and for general hobby activity aircraft. In particular, for small unmanned aircraft research for the ease of turning and hovering and Vertical-Off Take Landing(VTOL), have been studied mainly quadrotor unmanned aircraft is a type suitable for this study of small unmanned aircraft. The studies of these unmanned aircraft is the kinetic analysis requires complex processes, because these support by the aerodynamic forces on the unmanned aircraft study, and the controller design based on these dynamical analysis and experimental model analysis. In this paper, after the implementation of the basic attitude control based on a general PID controller, we propose concept design of the attitude control method on quadrotor attitude control by using the reinforcement learning algorithm of neural networks for non-linear elements not considered in the controller design.