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Design of a Neural Network Controller for a Slung-Load System Lifted by 1 Quad-Rotor

Byung-Yoon Lee, Seong-Min Hong, Dong-Wan Yoo, Hae-In Lee, Gun-Hee Moon, and Min-Jea Tahk
Department of Aerospace Engineering, KAIST, Daejeon, Korea
Abstract—This paper deals with the design of neural network controller for the slung-load system. There are many methods for modeling the slung-load system, we developed the entire system model based on the UKE (Udwadia-Kalaba Equations) in order to account for multi-constraints. Neural network was adapted to the attitude controller. Finally, considering all matters in the design process, numerical simulations are performed in order to verify the system model.

Index Terms—slung-load system, Udwadia-Kalaba equation, quad-rotor, neural network, adaptive control

Cite: Byung-Yoon Lee, Seong-Min Hong, Dong-Wan Yoo, Hae-In Lee, Gun-Hee Moon, and Min-Jea Tahk, "Design of a Neural Network Controller for a Slung-Load System Lifted by 1 Quad-Rotor," Jounal of Automation and Control Engineering, Vol. 3, No. 1, pp. 9-14, February, 2015. doi: 10.12720/joace.3.1.9-14
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