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In this paper we propose two schemes for sensor fault detection and accommodation (SFDA); one based on a neural network (NN) and the other an extended Kalman filter (EKF). The objective is to compare both approaches in terms of execution time, robustness to poorly modelled dynamics and sensitivity to different fault types. The schemes are tested on an unmanned air vehicle (UAV) application where traditional...
Design and development of unmanned aerial vehicles has attracted increased interest in the recent past. Rotorcraft UAVs, in particular have more challenges than its fixed wing counterparts. More research and experiments have been conducted to study the stability and control of RUAVs. A model-based control system design is particularly of our interest since it avoids a tedious trial and error process...
This paper reviews a theory of robot motion planning and elaborates an application in which neural networks are used to take decisions regarding the orientation of a robot in its search for a destination target.The Simulink is used as a tool to implement the concepts. The neural networks allow obtaining a model of inverse dynamic, indeed the mathematical model of robot. The test was realized with...
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