Juarez Vargas, Cesar Eduardo (Autonomous University of Hidalgo State), Suárez Cansino, Jóel (Autonomous University, Hidalgo), Espinoza Quesada, Eduardo Steed (Center for Research and Advanced Studies of the National Polytec), GARCIA CARRILLO, Luis Rodolfo (Texas A&M University - Corpus Christi), Ramos-Velasco, Luis Enrique (Universidad Politécnica Metropolitana de Hidalgo, México), Lozano, Rogelio (University of Technology of Compiègne)

Design and Implementation of an Artificial Neural Network Wavelet for Load Transportation with Two Unmanned Aircraft Systems

Scheduled for presentation during the Regular Session "Control Architectures II" (WeB4), Wednesday, June 12, 2019, 15:00−15:20, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper deals with the problem of enabling a team of two Unmanned Aircraft Systems to perform an autonomous load transportation task. We propose a strategy whose main objective is to ensure a stable flight of the team of agents when cooperatively transporting the load. The strategy is based on the implementation of a neural network controller and a neural network estimator, using wavelet activation functions in combination with a cooperative multi-agent control approach. To show the effectiveness and applicability of the proposed framework, a real time experimental implementation is presented. Additionally, a comparison with respect to a classic control law is also provided, demonstrating the superior performance attained when adopting the proposed controller.