Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter

Flying robots have gained great interest because of their numerous applications. For this reason, the control of Unmanned Aerial Vehicles (UAVs) is one of the most important challenges in mobile robotics. These kinds of robots are commonly controlled with Proportional-Integral-Derivative (PID) controllers; however, traditional linear controllers have limitations when controlling highly nonlinear and uncertain systems such as UAVs. In this paper, a control scheme for the pose of a quadrotor is presented. The scheme presented has the behavior of a PD controller and it is based on a Multilayer Perceptron trained with an Extended Kalman Filter. The Neural Network is trained online in order to ensure adaptation to changes in the presence of dynamics and uncertainties. The control scheme is tested in real time experiments in order to show its effectiveness.

[1]  Davide Scaramuzza,et al.  SVO: Fast semi-direct monocular visual odometry , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[2]  S. Hyakin,et al.  Neural Networks: A Comprehensive Foundation , 1994 .

[3]  S. Haykin.  Kalman Filtering and Neural Networks , 2001 .

[4]  Mirza Dikari Kusrini,et al.  Quadcopter applications for wildlife monitoring , 2017 .

[5]  Junku Yuh,et al.  A neural net controller for underwater robotic vehicles , 1990 .

[6]  Ronald J. Williams,et al.  Training recurrent networks using the extended Kalman filter , 1992, [Proceedings 1992] IJCNN International Joint Conference on Neural Networks.

[7]  Roland Siegwart,et al.  Design and control of an indoor micro quadrotor , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[8]  Jin Zhang,et al.  Adaptive neural network control for a class of MIMO nonlinear systems with disturbances in discrete-time , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[9]  Sauro Longhi,et al.  Actuator fault detection and isolation system for an hexacopter , 2014, 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA).

[10]  Wolfram Burgard,et al.  Towards a navigation system for autonomous indoor flying , 2009, 2009 IEEE International Conference on Robotics and Automation.

[11]  Jizhong Xiao,et al.  Fast visual odometry and mapping from RGB-D data , 2013, 2013 IEEE International Conference on Robotics and Automation.

[12]  Shahida Khatoon,et al.  PID & LQR control for a quadrotor: Modeling and simulation , 2014, 2014 International Conference on Advances in Computing, Communications and Informatics (ICACCI).

[13]  Michael David Schmidt,et al.  SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE , 2011 .

[14]  Minho Lee,et al.  A robust neural controller for underwater robot manipulators , 2000, IEEE Trans. Neural Networks Learn. Syst..

[15]  Daniel Cremers,et al.  Scale-aware navigation of a low-cost quadrocopter with a monocular camera , 2014, Robotics Auton. Syst..

[16]  Andrew H. Gee,et al.  Hierarchical Bayesian Models for Regularization in Sequential Learning , 2000, Neural Computation.

[17]  Y. Ochi,et al.  Design of restructurable flight control systems using feedback linearization , 1991 .

[18]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[19]  Jose Rivera-Mejia,et al.  PID Based on a Single Artificial Neural Network Algorithm for Intelligent Sensors , 2012 .

[20]  Francesco Piazza,et al.  On the complex backpropagation algorithm , 1992, IEEE Trans. Signal Process..

[21]  G. Gerhart,et al.  Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments , 2009 .

[22]  Marios M. Polycarpou,et al.  Command filtered adaptive backstepping , 2010, Proceedings of the 2010 American Control Conference.

[23]  Rogerio A. Enríquez-Caldera,et al.  LQR control for a quadrotor using unit quaternions: Modeling and simulation , 2013, CONIELECOMP 2013, 23rd International Conference on Electronics, Communications and Computing.

[24]  Miguel G. Villarreal-Cervantes,et al.  Meta-heuristic algorithms for the control tuning of omnidirectional mobile robots , 2020, Engineering Optimization.

[25]  M. Elena Antonio-Toledo,et al.  Real-Time Integral Backstepping with Sliding Mode Control for a Quadrotor UAV , 2018 .

[26]  Daniel Cremers,et al.  Camera-based navigation of a low-cost quadrocopter , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Youmin Zhang,et al.  Nonlinear tracking control methods applied to Qball-X4 quadrotor UAV against actuator faults , 2016, 2016 Chinese Control and Decision Conference (CCDC).

[28]  Roland Siegwart,et al.  Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments , 2011, 2011 IEEE International Conference on Robotics and Automation.

[29]  Jianqiang Yi,et al.  Neural Network Control for a Semi-Active Vehicle Suspension with a Magnetorheological Damper , 2004 .

[30]  Roland Siegwart,et al.  Full control of a quadrotor , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Qing Lin,et al.  Adaptive Flight Control Design for Quadrotor UAV Based on Dynamic Inversion and Neural Networks , 2013, 2013 Third International Conference on Instrumentation, Measurement, Computer, Communication and Control.

[32]  T. Madani,et al.  Backstepping Sliding Mode Control Applied to a Miniature Quadrotor Flying Robot , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[33]  Mark E. Oxley,et al.  Comparative Analysis of Backpropagation and the Extended Kalman Filter for Training Multilayer Perceptrons , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[34]  Daniel Cremers,et al.  Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing , 2012 .

[35]  Sharad Singhal,et al.  Training feed-forward networks with the extended Kalman algorithm , 1989, International Conference on Acoustics, Speech, and Signal Processing,.

[36]  Stephan Nebiker,et al.  A LIGHT-WEIGHT MULTISPECTRAL SENSOR FOR MICRO UAV – OPPORTUNITIES FOR VERY HIGH RESOLUTION AIRBORNE REMOTE SENSING , 2008 .

[37]  G. Klein,et al.  Parallel Tracking and Mapping for Small AR Workspaces , 2007, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.

[38]  Mandyam V. Srinivasan,et al.  Visual Odometry : Autonomous UAV Navigation using Optic Flow and Stereo , 2014, ICRA 2014.

[39]  Lee A. Feldkamp,et al.  Parameter‐Based Kalman Filter Training: Theory and Implementation , 2002 .

[40]  Salman Bari,et al.  Artificial Neural Network Based Self-Tuned PID Controller for Flight Control of Quadcopter , 2019, 2019 International Conference on Engineering and Emerging Technologies (ICEET).

[41]  Jakob Engel.  Autonomous Camera-Based Navigation of a Quadrocopter , 2011 .

[42]  Mangal Kothari,et al.  A Simplified Adaptive Backstepping Control of Aircraft Lateral/Directional Dynamics , 2016 .

[43]  Robert F. Stengel,et al.  Flight Control Design using Nonlinear Inverse Dynamics , 1986 .

[44]  X. Z. Gao,et al.  Design and implementation of an adaptive PID controller using single neuron learning algorithm , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[45]  D. Cooke,et al.  OPTIMAL TRAJECTORY PLANNING AND LQR CONTROL FOR A QUADROTOR UAV , 2006 .

[46]  Roland Siegwart,et al.  Vision based MAV navigation in unknown and unstructured environments , 2010, 2010 IEEE International Conference on Robotics and Automation.

[47]  John J. Leonard,et al.  Robust real-time visual odometry for dense RGB-D mapping , 2013, 2013 IEEE International Conference on Robotics and Automation.

[48]  Youmin Zhang,et al.  Nonlinear Fault-Tolerant Control of a Quadrotor UAV Based on Sliding Mode Control Technique , 2012 .

[49]  Osamu Kaneko,et al.  Controller Parameter Tuning of a Hexacopter with Fictitious Reference Iterative Tuning , 2019, 2019 SICE International Symposium on Control Systems (SICE ISCS).

[50]  George Meyer,et al.  Application of nonlinear transformations to automatic flight control , 1984, Autom..

[51]  Stephan Nebiker,et al.  UAV-based Augmented Monitoring - Real-time Georeferencing and Integration of Video Imagery with Virtual Globes , 2008 .

[52]  Florian Segor,et al.  Towards Autonomous Micro UAV Swarms , 2011, J. Intell. Robotic Syst..

[53]  Youmin Zhang,et al.  Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed , 2012 .

[54]  D. Pines,et al.  unmanned aerial Vehicles : an Overview , 2008 .

[55]  Xiaodong Liu,et al.  The PID Controller Based on the Artificial Neural Network and the Differential Evolution Algorithm , 2012, J. Comput..

[56]  Albert S. Huang,et al.  Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera , 2011, ISRR.