Decentralized PID neural network control for a quadrotor helicopter subjected to wind disturbance

CHEN Yan-min(陈彦民), HE Yong-ling(何勇灵), ZHOU Min-feng(周岷峰)

(School of Transportation Science and Engineering, Beihang University, Beijing 100191, China)

Abstract:A decentralized PID neural network (PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism. For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field. Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.

Key words:quadrotor helicopter; PID neural network (PIDNN); turbulent wind field; discrete Lyapunov theory