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Neural Network Based Model Predictive Controller for Simplified Heave Model of an Unmanned Helicopter

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Swarm, Evolutionary, and Memetic Computing (SEMCCO 2012)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 7677))

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Abstract

Neural network (NN) based model predictive controller (NN-MPC) for height control of an unmanned helicopter is presented in this paper. The applicability of the NN-MPC scheme is evaluated on a simplified heave model of the helicopter in simulation. NN based system identification (NNID) technique is used to model the heave dynamics of the unmanned helicopter which is then used in the MPC algorithm to estimate the future control moves. To show the efficacy of the controller, controller results are provided. Results indicate that NN-MPC scheme is capable of handling external disturbances and parameter variations of the system.

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Author information

Authors and Affiliations

  1. University of New South Wales, Australian Defence Force Academy, Northcott Drive, Canberra, ACT, 2600, Australia

    Mahendra Kumar Samal, Sreenatha Anavatti & Matthew Garratt

Authors
  1. Mahendra Kumar Samal
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  2. Sreenatha Anavatti
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  3. Matthew Garratt
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Indian Institute of Technology, 110016, Delhi, India

    Bijaya Ketan Panigrahi

  2. Electronics and Communication Sciences Unit, Indian Statistical Institute, 700108, Kolkata, India

    Swagatam Das

  3. School of Electrical and Electronic Engineering, Nanyang Technological University, Block N4, 2b-39, Nanyang Avenue, 639798, Singapore, Singapore

    Ponnuthurai Nagaratnam Suganthan

  4. Department of Electronics and Telecom. Engineering, Institute of Technical Education & Research, Siksha ’O’ Anusandhan University, 751030, Bhubaneswar, Odisha, India

    Pradipta Kumar Nanda

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© 2012 Springer-Verlag Berlin Heidelberg

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Samal, M.K., Anavatti, S., Garratt, M. (2012). Neural Network Based Model Predictive Controller for Simplified Heave Model of an Unmanned Helicopter. In: Panigrahi, B.K., Das, S., Suganthan, P.N., Nanda, P.K. (eds) Swarm, Evolutionary, and Memetic Computing. SEMCCO 2012. Lecture Notes in Computer Science, vol 7677. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35380-2_42

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  • DOI: https://doi.org/10.1007/978-3-642-35380-2_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-35379-6

  • Online ISBN: 978-3-642-35380-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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