Modelling a Quadrotor Vehicle Using a Modular Deep Recurrent Neural Network

In this paper, the Modular Deep Recurrent Neural Network (MODERNN) framework is studied for learning a Multi-Input-Multi-Output (MIMO) model of a quad rotor. Comparing a Single-Input-Single-Output (SISO) system, a MIMO system is much harder to model because of the intercoupling of the system variables as well as the multi-dimensionality of the input and output spaces. In this paper it is shown that the MODERNN framework is capable of modelling complex MIMO dynamical mappings, such as a simulated MIMO model (4-by-4) of a quad rotor vehicle in the presence of noise and ground effect.