conferance: Development of an Attitude Control System of a Heavy-lift Hexacopter using Elman Recurrent Neural Networks

Suprapto, Bhakti Yudho (2022) conferance: Development of an Attitude Control System of a Heavy-lift Hexacopter using Elman Recurrent Neural Networks. In: 2016 22nd International Conference on Automation and Computing (ICAC), 2016, London.

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Abstract

Abstract—Hexacopter is a type of multicopter that can be used to lift a heavy load, hence very convinient to be utilised in agricultural fields. As the consequence, however, the attitude control of this hexacopter is rather difficult compare with that of a quadcopter with four motors, due to gyroscopic effet of the additional motors and in its combination with the heavy loads. In this paper, we have developed a direct inverse controller system using an Elman neural networks for the attitude and altitude control of the hexacopter. Experiments are conductet using a flight data taken from a test-bed system. Results show that the attitude characteritics of the heavy-lift hexacopter can be controlled successfully, especially when an optimized Elman neural networks as the direct inverse controller system is utilized.

Item Type:	Conference or Workshop Item (Paper)
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Mr. Bhakti Suprapto
Date Deposited:	28 Apr 2023 23:15
Last Modified:	28 Apr 2023 23:15
URI:	http://repository.unsri.ac.id/id/eprint/98010

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