Design and Implementation of an Artificial Neural Network Wavelet for Load Transportation with two Unmanned Aircraft Systems
C. E. Juarez Vargas, Joel Suárez Cansíno, Eduardo S. Espinoza, Luis Rodolfo García Carrillo, Luis Enrique Ramos‐Velasco, Rogelio Lozano · 2019
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.