Quadrotor Controller Construction Via Ensemble Fixed-Size LS-SVMs

To solve the problem of quad-rotor UAV general controller approximation, an ensemble modeling method is introduced to construct the general form of the position and attitude controller. Three types of quad-rotor vertical take-off and landing tasks are designed to obtain data sets. Then, four nonlinear functions about the four channel PID controllers of quadrotor are established and approximated using the ensemble modeling method based on Ensemble Fixed-Size LS-SVMs. The individual FSLSSVM model and the DBN model are compared with the ensemble modeling method. The experimental results show that the ensemble modeling performs better than the other two models, especially facing with complex tasks, which verifies that it is feasible to construct the general controller for a certain type of quad-rotor task.