Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter

<div>Learning curve of <svg height="13.0595pt" id="M223" style="vertical-align:-3.36801pt" version="1.1" viewbox="-0.0498162 -9.69149 19.5054 13.0595" width="19.5054pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,5.568,0)"><path d="M584 573C584 646 528 703 441 703C387 703 327 679 274 632C202 568 166 493 132 302L57 -122C43 -201 35 -214 21 -227L25 -246C54 -244 122 -236 156 -203C168 -191 175 -162 195 -40L261 369C291 556 318 652 391 652C431 652 465 620 465 543C465 497 449 456 408 422C395 411 364 405 340 403L309 336C386 319 447 279 447 188C447 105 419 50 329 50C290 50 253 63 226 77L216 55C218 23 252 -16 286 -16C324 -16 369 3 419 31C488 69 575 149 575 238C575 325 516 369 437 400C516 443 584 486 584 573Z" id="g5-224"></path><glyph.data ascent="3481" descent="-2878" horiz-adv-x="605" vert-adv-y="605"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,13.796,0)"><path d="M162 -163V703H102V-163H162ZM309 -163V703H249V-163H309Z" id="g113-10"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="411" vert-adv-y="411"></glyph.data></g></svg> in position tracking control (straight line).</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter 