Adaptive non-linear model inversion control of a twin rotor multi-input multi-output system using artificial intelligence

Abstract

This paper investigates the development of an adaptive dynamic non-linear model inversion control law for a twin rotor multi-input multi-output system (TRMS) utilizing artificial neural networks and genetic algorithms. The TRMS is an aerodynamic test rig representing the control challenges of modern air vehicles. A highly non-linear one degree of freedom mathematical model of the TRMS is considered in this study and a non-linear inverse model is developed for the pitch channel. In the absence of model inversion errors, a genetic algorithm-tuned proportional-derivative (PD) controller is used to enhance the tracking characteristics of the system. An adaptive neural network element is integrated, thereafter, with the feedback control system to compensate for model inversion errors. In order to show the effectiveness of the proposed method in the simulation environment an inversion error has deliberately been provided as an uncertainty in the real situation. Square and sinusoidal reference command signals are used to test the control system performance, and it is noted that an excellent tracking response is exhibited in the presence of inversion errors caused by model uncertainty.

Keywords

model inversion adaptive control artificial intelligence twin rotor

Get full access to this article

View all access options for this article.

References

Slotine

J. J.E.

Applied nonlinear control, 1991 (Prentice Hall, New Jersey, USA).

Enns

Bugajski

Hendrick

Stein

Dynamic inversion: An evolving methodology for flight control design. AGARD Conference Proceedings on Active Control Technology: Applications and Lessons Learned, Turin, Italy, May 1994, pp. 7–12.

Prasad

J. V.R.

Lipp

Synthesis of a helicopter nonlinear controller using approximate inversion. Int. J. Math. Comput. Model., 1993, 18 (3/4), 89–100.

Kim

B. S.

Calise

A. J.

Nonlinear flight control using neural networks. J. Guid. Control Dyn., 1997, 20 (1), 26–33.

Behera

Gopal

Chudhury

On adaptive trajectory tracking of a robot manipulator using inversion of its neural emulator. IEEE Trans. Neural Netw., 1996, 7 (6), 1401–1414.

Ostroff

A. J.

Bacon

B. J.

Force and moment approach for achievable dynamics using nonlinear dynamic inversion. AIAA Guidance, Navigation, and Control Conference, Portland, Oregon, 1999, pp. 424–434.

Devasia

Nonlinear inversion-based output tracking. IEEE Trans. Autom. Control, 1996, 41 (7), 930–942.

Yesildirek

Lewis

F. L.

Feedback linearization using neural networks. Automatica, 1995, 31 (11), 1659–1664.

Lee

Kim

B. S.

Adaptive nonlinear control system design for helicopter robust command augmentation. Aerosp. Sci. Technol., 2005, 9, 241–251.

10.

Rysdyk

Calise

A. J.

Adaptive model inversion flight control for tilt-rotor aircraft. J. Guid. Control Dyn., 1999, 22 (3), 402–407.

11.

Rysdyk

Calise

A. J.

Robust nonlinear adaptive flight control for consistent handling qualities. IEEE Trans. Control Syst. Technol., 2005, 13 (6), 896–910.

12.

Gurfil

Idan

Kasdin

N. J.

Adaptive neural control of deep-space formation flying. American Control Conference, Alaska, USA, May 2002, pp. 2842–2847.

13.

Park

C. S.

Lee

Tahk

M. J.

Bang

Airship control using neural network augmented model inversion. IEEE Conference on Control Applications, Istanbul, Turkey, 2003, vol. 1, pp. 558–563.

14.

Johnson

E. N.

Calise

A. J.

Limited authority adaptive flight control for reusable launch vehicles. J. Guid. Control Dyn., 2003, 26 (6), 906–913.

15.

Johnson

E. N.

Kannan

S. K.

Adaptive trajectory control for autonomous helicopters. J. Guid. Control Dyn., 2005, 28 (3), 524–538.

16.

Sahani

N. A.

Horn

J. F.

Adaptive model inversion control of a helicopter with structural load limiting. J. Guid. Control Dyn., 2006, 29 (2), 411–420.

17.

Hovakimyan

Rysdyk

Calise

A. J.

Dynamic neural networks for output feedback control. IEEE Conference on Decision and Control, Phoenix, Arizona, USA, December 1999, pp. 1685–1690.

18.

Feedback Co., Twin rotor MIMO system user manual, 1998..