A Comparison of Back Propagation Neural Network and Elman Recurrent Neural Network Algorithms on Altitude Control of Heavy-lift Hexacopter Based on Direct Inverse Control

摘要

The altitude control is one of the important factors in controlling the heavy-lift hexacopter. This altitude control needs precise control since the heavy-lift hexacopter moves based on the speed of its driving motors. This paper uses a control based on Direct Inverse Controller with Neural Network Algorithm. The algorithm which used in this paper is Elman Recurrent Neural Network compared with Backpropagation Neural Network. The Backpropagation is the most used algorithm in Neural Network. In the testing result, The Elman Recurrent Neural Network algorithm result in smaller MSE value and capable to keep up with given data test compared with Backpropagation Neural Network algorithm.