Output Feedback Control of a Quadrotor UAV Using Neural Networks

  title={Output Feedback Control of a Quadrotor UAV Using Neural Networks},
  author={Travis Dierks and Sarangapani Jagannathan},
  journal={IEEE Transactions on Neural Networks},
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN… CONTINUE READING
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