کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Designing an Adaptive-Intelligent Controller for Quadcopter Based on Brain Emotional Learning

نویسندگان :

Kosar Safari¹ Amirsaeid Safari² Muhammad Mnathouri³

1- K.N. Toosi University of Technology Tehran, Iran 2- K.N. Toosi University of Technology Tehran, Iran 3- K.N. Toosi University of Technology Tehran, Iran

کلمات کلیدی :

Sliding Mode Control،Adaptive Control،ntelligent Control،BELBIC،UAV

چکیده :

This research presents an innovative approach to intelligent-adaptive control inspired by emotional intelligence, aimed at improving the control of quadcopters. Quadcopters, with their unique flight capabilities including vertical takeoff and landing (VTOL), pose substantial control challenges due to their non-linear dynamics, complex subsystem interactions, susceptibility to disturbances, and underactuated nature. To address these challenges, this paper introduces a dynamic sliding mode controller integrated with an intelligent backstepping controller. This novel approach allows for adaptive tuning of the controller's gains, referred to as direct adaptive state. The study assesses the controller's performance in both adaptive and non- adaptive modes, applied to quadcopters, and compares it to classical controllers. The results demonstrate superior performance and increased flexibility of the proposed controller, showcasing its potential for significant advancements in quadcopter control.