Design of quad-rotor general controller based on ensemble modeling method

doi:10.3969/j.issn.0253-2778.2020.08.007

Abstract

Abstract: To solve the problem of quad-rotor UAV general controller approximation, a method is proposed based on ensemble modeling to learn and construct the general form of controller. Quadrotor hover and forward flight tasks are designed and simulated on Matlab/Simulink to obtain training and test data sets. Then the state variables and process variables of the quadrotor flight are taken as inputs, and the lift forces of the rotors are taken as outputs to build an ensemble model to approximate the general controller. A single fixed size least squares support vector machines model and a deep belief networks model are compared with the ensemble modeling method. The experimental results show that the ensemble modeling method can get better results, and it is feasible to construct a general controller for quadrotor certain type of mission.

Key words: quad-rotor UAV, controller design, ensemble modeling, least squares method

CLC Number:

TP273

WU Shichong, LIAO Fei, WU Wenhua, FU Zaiming. Design of quad-rotor general controller based on ensemble modeling method[J]. Journal of University of Science and Technology of China, 2020, 50(8): 1084-1092.

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