title: An indirect adaptive neural control of a visual-based quadrotor robot for pursuing a moving target.
abstract: This paper aims to use a visual-based control mechanism to control a quadrotor type aerial robot which is in pursuit of a moving target. The nonlinear nature of a quadrotor, on the one hand, and the difficulty of obtaining an exact model for it, on the other hand, constitute two serious challenges in designing a controller for this UAV. A potential solution for such problems is the use of intelligent control methods such as those that rely on artificial neural networks and other similar approaches. In addition to the two mentioned problems, another problem that emerges due to the moving nature of a target is the uncertainty that exists in the target image. By employing an artificial neural network with a Radial Basis Function (RBF) an indirect adaptive neural controller has been designed for a quadrotor robot in search of a moving target. The results of the simulation for different paths show that the quadrotor has efficiently tracked the moving target.
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran. Electronic address: masoud_shirzad@elec.iust.ac.ir.
authors.forename: Masoud
authors.initials: M
authors.lastname: Shirzadeh
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran. Electronic address: amirkhani@ieee.org.
authors.forename: Abdollah
authors.initials: A
authors.lastname: Amirkhani
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran.
authors.forename: Aliakbar
authors.initials: A
authors.lastname: Jalali
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran.
authors.forename: Mohammad R
authors.initials: MR
authors.lastname: Mosavi
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D004867:Equipment Design; D007091:Image Processing, Computer-Assisted; D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics; D012371:Robotics; D012984:Software; D014785:Vision, Ocular
keywords: Indirect adaptive neural control; Quadrotor robot; RBF neural network; Visual-based control