Title :
Robust adaptive nonlinear flight control applications using neural networks
Author :
Rysdyk, R. ; Nardi, F. ; Calise, A.J.
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Online neural networks are used to enhance feedback linearizing controllers of uncertain nonlinear systems. These systems may be non-affine with respect to the control. The controller architecture is based on inversion of a linearized plant model. A multi-layer perceptron neural network is added to compensate for the inversion error. Online weight update laws are derived from Lyapunov analysis, which guarantees boundedness of all signals. Robustness with respect to unmodeled input dynamics is provided by the addition of a nonlinear damper. The controller is demonstrated using the full, nonlinear models of the XV-15 tilt-rotor and the Caltech ducted fan. Numerical results demonstrate the effectiveness of the control in response to model inversion error, and degraded actuator performance
Keywords :
Lyapunov methods; adaptive control; aerospace control; multilayer perceptrons; neurocontrollers; nonlinear control systems; robust control; uncertain systems; Caltech ducted fan; Lyapunov analysis; XV-15 tilt-rotor; controller architecture; degraded actuator performance; inversion error; nonaffine systems; nonlinear damper; online weight update laws; robust adaptive nonlinear flight control; robustness; uncertain nonlinear systems; unmodeled input dynamics; Adaptive control; Aerospace control; Control systems; Linear feedback control systems; Neural networks; Neurofeedback; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786533
