Real-Time Neural Network Based Online Identification Technique for a UAV Platform

Authors:
Vishwas R. Puttige;Sreenatha G. Anavatti
Affiliations:
Australian Defence Force Academy, Australia;Australian Defence Force Academy, Australia
Venue:
CIMCA '06 Proceedings of the International Conference on Computational Inteligence for Modelling Control and Automation and International Conference on Intelligent Agents Web Technologies and International Commerce
Year:
2006

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Abstract

This paper presents the results of an online identification algorithm based on Autoregressive models aided by Artificial Neural Networks for the non-linear dynamics of an Unmanned Aerial Vehicle (UAV) platform. Numerical simulations were performed for different combinations of the network structures and the autoregressive model. The weights were trained and updated online using the Levenberg Marquardt method. The results have been validated using the real-time Hardware in the Loop simulation technique for different sets of flight data.