Control method of unmanned aerial vehicle multilayer recursive convergence neural network controller
A control method and neural network technology, which are applied in the control field of multi-layer recursive convergent neural network controllers for unmanned aerial vehicles, can solve the problems that PID controllers are not suitable for tracking dynamic targets, have delays, and take a long time.
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[0096] This embodiment provides a multi-layer recursive convergence neural network controller control method for an unmanned aerial vehicle. The unmanned aerial vehicle uses a quadrotor unmanned aerial vehicle. The control method specifically includes the following steps:
[0097] S1: Establish a UAV model and integrate the hysteresis effect of the motor into the UAV model;
[0098] S2: Based on the UAV model in step S1, adopt the method of recursive convergence neural dynamics to design height Z controller, yaw angle ψ controller, roll angle φ controller, pitch angle θ controller, X controller, Y controller;
[0099] S3: Input the control target and the state information of the actual system obtained by the sensor carried by the UAV into the controller, and the controller calculates the control component;
[0100] S4: The control component in step S3 is converted and delivered to the aircraft motor governor to control the motion of the UAV.
[0101] Specifically, the UAV mo...
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