Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

Dan Necsulescu; Yi-Wu Jiang; Bumsoo Kim

doi:10.1007/s11633-007-0071-y

January 2007

Article Contents

Dan Necsulescu, Yi-Wu Jiang and Bumsoo Kim. Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle. International Journal of Automation and Computing, vol. 4, no. 1, pp. 71-79, 2007. doi: 10.1007/s11633-007-0071-y

Cite as: Dan Necsulescu, Yi-Wu Jiang and Bumsoo Kim. Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle. International Journal of Automation and Computing, vol. 4, no. 1, pp. 71-79, 2007. doi: 10.1007/s11633-007-0071-y

Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

1.
Department of Mechanical Engineering, University of Ottawa, 770 King Edward Ave., Ottawa, Ontario K1N 6N5, Canada;
2.
Solectron Design and Engineering, 21 Richardson Side Rd., Kanata, Ontario K2K 2C1, Canada;
3.
Defence Research and Development Canada, Ottawa, 3701 Carling Ave., Ottawa, Ontario K1A 0Z4, Canada

Received: 2005-09-02

Abstract

This paper presents a flight control design for an unmanned aerial vehicle (UAV) using a nonlinear autoregressive moving average (NARMA-L2) neural network based feedback linearization and output redefinition technique.The UAV investigated is non- minimum phase.The output redefinition technique is used in such a way that the resulting system to be inverted is a minimum phase system.The NARMA-L2 neural network is trained off-line for forward dynamics of the UAV model with redefined output and is then inverted to force the real output to approximately track a command input.Simulation results show that the proposed approaches have good performance.

References

[1]	D.Enns,D.J.Bugajski,R.C.Hendrick,G.Stein.Dynamic Inversion:An Evolving Methodology for Flight Control Design.International Journal of Control,vol.59,no.1,pp.71-91,1994.
[2]	J.Hauser,S.Sastry,G.Meyer.Nonlinear Control Design for Slightly Non-minimum Phase Systems:Application to V/STOL Aircraft.Automatica,vol.28,no.4,pp.665-679,1992.
[3]	M.Oishi,C.Tomlin.Switching in Non-minimum Phase Systems:Applications to a VSTOL Aircraft.In Proceedings of the American Control Conference,Chicago,Illinois,vol.1,no.6,pp.487-491,2000.
[4]	J.J.Romano,S.N.Singh.I-O Map Inversion,Zero Dynamics and Flight Control.IEEE Transactions on Aerospace and Electronic Systems,vol.26,no.6,pp.1022-1029,1990.
[5]	J.E.Slotine,W.Li.Applied Nonlinear Control,Prentice-Hall,Englewood Cliffs,NJ,1991.
[6]	L.Benvenuti,M.D.DI.Benedetto.Approximate Output Tracking for Nonlinear Non-minimum Phase Systems with an Application to Flight Control.International Journal of Robust and Nonlinear Control,vol.4,no.3,pp.397-414,1994.
[7]	B.S.Kim,A.J.Calise.Nonlinear Flight Control Using Neural Networks.Journal of Guidance,Control and Dynamics,vol.20,no.1,pp.26-33,1997.
[8]	L.Yan,C.J.Li.Robot Learning Control Based on Recurrent Neural Network Inverse Model.Journal of Robotic Systems,vol.14,no.3,pp.199-212,1997.
[9]	G.L.Plett.Adaptive Inverse Control of Linear and Nonlinear Systems Using Dynamic Neural Networks.IEEE Transactions on Neural Networks,vol.14,no.2,pp.360-376,2003.
[10]	Z.Su,K.Khorasani.A Neural Network Based Controller for a Single-Link Flexible Manipulator Using the Inverse Dynamics Approach.IEEE Transactions on Industrial Electronics,vol.48,no.6,pp.1074-1086,2001.
[11]	K.S.Narendra,S.Mukhopadhyay.Adaptive Control Using Neural Networks and Approximate Models.IEEE Transactions on Neural Networks,vol.8,no.3,pp.475-485,1997.
[12]	S.He,K.Reif.R.Unbehauen.A Neural Approach for Control of Nonlinear Systems with Feedback Linearization.IEEE Transactions on Neural Networks,vol.9,no.6,pp.1409-1421,1998.
[13]	H.Demuth,M.Beale.Neural Network Toolbox User's Guide,4th ed.,The MathWorks,Natick,MA,2002.

Metrics

[1]	Hong-Tao Ye, Zhen-Qiang Li. PID Neural Network Decoupling Control Based on Hybrid Particle Swarm Optimization and Differential Evolution . International Journal of Automation and Computing, 2020, 17(6): 867-872. doi: 10.1007/s11633-015-0917-7
[2]	Bin Hu, Jiacun Wang. Deep Learning Based Hand Gesture Recognition and UAV Flight Controls . International Journal of Automation and Computing, 2020, 17(1): 17-29. doi: 10.1007/s11633-019-1194-7
[3]	Aleksey Kabanov, Vasiliy Alchakov. Composite Control of Nonlinear Singularly Perturbed Systems via Approximate Feedback Linearization . International Journal of Automation and Computing, 2020, 17(4): 610-620. doi: 10.1007/s11633-017-1076-9
[4]	Tian-Jie Zhang. Unmanned Aerial Vehicle Formation Inspired by Bird Flocking and Foraging Behavior . International Journal of Automation and Computing, 2018, 15(4): 402-416. doi: 10.1007/s11633-017-1111-x
[5]	Na Duan, Hui-Fang Min. NN-based Output Tracking for More General Stochastic Nonlinear Systems with Unknown Control Coefficients . International Journal of Automation and Computing, 2017, 14(3): 350-359. doi: 10.1007/s11633-015-0936-4
[6]	Kayode Owa, Sanjay Sharma, Robert Sutton. A Wavelet Neural Network Based Non-linear Model Predictive Controller for a Multi-variable Coupled Tank System . International Journal of Automation and Computing, 2015, 12(2): 156-170. doi: 10.1007/s11633-014-0825-2
[7]	Chun-Li Zhang, Jun-Min Li. Adaptive Iterative Learning Control of Non-uniform Trajectory Tracking for Strict Feedback Nonlinear Time-varying Systems . International Journal of Automation and Computing, 2014, 11(6): 621-626. doi: 10.1007/s11633-014-0819-0
[8]	Bin Wang, Jun-Yong Zhai, Shu-Min Fei. Output Feedback Tracking Control for a Class of Switched Nonlinear Systems with Time-varying Delay . International Journal of Automation and Computing, 2014, 11(6): 605-612. doi: 10.1007/s11633-014-0848-8
[9]	Jun Wang, Hai-Long Pei, Nai-Zhou Wang. Adaptive Output Feedback Control Using Fault Compensation and Fault Estimation for Linear System with Actuator Failure . International Journal of Automation and Computing, 2013, 10(5): 463-471. doi: 10.1007/s11633-013-0743-8
[10]	Xiao-Ling Liang, Ming-Zhe Hou, Guang-Ren Duan. Output Feedback Stabilization of Switched Stochastic Nonlinear Systems Under Arbitrary Switchings . International Journal of Automation and Computing, 2013, 10(6): 571-577. doi: 10.1007/s11633-013-0755-4
[11]	Lan Zhou, Jin-Hua She, Min Wu. Design of a Discrete-time Output-feedback Based Repetitive-control System . International Journal of Automation and Computing, 2013, 10(4): 343-349. doi: 10.1007/s11633-013-0730-0
[12]	Hong-Bin Wang, Mian Liu. Design of Robotic Visual Servo Control Based on Neural Network and Genetic Algorithm . International Journal of Automation and Computing, 2012, 9(1): 24-29. doi: 10.1007/s11633-012-0612-x
[13]	Chang-Liang Liu, Shao-Cheng Tong, Yong-Ming Li, Yuan-Qing Xia. Adaptive Fuzzy Backstepping Output Feedback Control of Nonlinear Time-delay Systems with Unknown High-frequency Gain Sign . International Journal of Automation and Computing, 2011, 8(1): 14-22. doi: 10.1007/s11633-010-0549-x
[14]	Xu-Dong Zhao, Qing-Shuang Zeng. H_∞ Output Feedback Control for Stochastic Systems with Mode-dependent Time-varying Delays and Markovian Jump Parameters . International Journal of Automation and Computing, 2010, 7(4): 447-454. doi: 10.1007/s11633-010-0526-4
[15]	Xin Yu, Na Duan. Output Feedback for Stochastic Nonlinear Systems with Unmeasurable Inverse Dynamics . International Journal of Automation and Computing, 2009, 6(4): 391-394. doi: 10.1007/s11633-009-0391-1
[16]	Shao-Cheng Tong, Yong-Ming Li. Adaptive Backstepping Output Feedback Control for SISO Nonlinear System Using Fuzzy Neural Networks . International Journal of Automation and Computing, 2009, 6(2): 145-153. doi: 10.1007/s11633-009-0145-0
[17]	Ming-Zhe Hou, Ai-Guo Wu, Guang-Ren Dua. Robust Output Feedback Control for a Class of Nonlinear Systems with Input Unmodeled Dynamics . International Journal of Automation and Computing, 2008, 5(3): 307-312. doi: 10.1007/s11633-008-0307-5
[18]	Wei-Sheng Chen, Jun-Min Li. Adaptive Output-feedback Regulation for Nonlinear Delayed Systems Using Neural Network . International Journal of Automation and Computing, 2008, 5(1): 103-108. doi: 10.1007/s11633-008-0103-2
[19]	Keylan Alimhan, Hiroshi Inaba. Output Feedback Control for a Class of Nonlinear Systems . International Journal of Automation and Computing, 2006, 3(3): 215-221. doi: 10.1007/s11633-006-0215-5
[20]	Shumei Mu, Tianguang Chu, Long Wang, Wensheng Yu. Output Feedback Control of Networked Systems . International Journal of Automation and Computing, 2004, 1(1): 26-34. doi: 10.1007/s11633-004-0026-5

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Cite This Article

PDF

XML

Entire Issue PDF

用微信扫码二维码

分享至好友和朋友圈

Metrics

Abstract Views (3584) PDF downloads (4245) Citations (0)

Related Articles

Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

1. Department of Mechanical Engineering, University of Ottawa, 770 King Edward Ave., Ottawa, Ontario K1N 6N5, Canada;

2. Solectron Design and Engineering, 21 Richardson Side Rd., Kanata, Ontario K2K 2C1, Canada;

3. Defence Research and Development Canada, Ottawa, 3701 Carling Ave., Ottawa, Ontario K1A 0Z4, Canada

Received: 2005-09-02

Key words:

Nonlinear unmanned aerial vehicle(UAV)flight control /
non-minimum phase /
output redefinition /
neural network based feedback linearization

Abstract: This paper presents a flight control design for an unmanned aerial vehicle (UAV) using a nonlinear autoregressive moving average (NARMA-L2) neural network based feedback linearization and output redefinition technique.The UAV investigated is non- minimum phase.The output redefinition technique is used in such a way that the resulting system to be inverted is a minimum phase system.The NARMA-L2 neural network is trained off-line for forward dynamics of the UAV model with redefined output and is then inverted to force the real output to approximately track a command input.Simulation results show that the proposed approaches have good performance.

HTML

Reference (13)

[1]	D.Enns,D.J.Bugajski,R.C.Hendrick,G.Stein.Dynamic Inversion:An Evolving Methodology for Flight Control Design.International Journal of Control,vol.59,no.1,pp.71-91,1994.
[2]	J.Hauser,S.Sastry,G.Meyer.Nonlinear Control Design for Slightly Non-minimum Phase Systems:Application to V/STOL Aircraft.Automatica,vol.28,no.4,pp.665-679,1992.
[3]	M.Oishi,C.Tomlin.Switching in Non-minimum Phase Systems:Applications to a VSTOL Aircraft.In Proceedings of the American Control Conference,Chicago,Illinois,vol.1,no.6,pp.487-491,2000.
[4]	J.J.Romano,S.N.Singh.I-O Map Inversion,Zero Dynamics and Flight Control.IEEE Transactions on Aerospace and Electronic Systems,vol.26,no.6,pp.1022-1029,1990.
[5]	J.E.Slotine,W.Li.Applied Nonlinear Control,Prentice-Hall,Englewood Cliffs,NJ,1991.
[6]	L.Benvenuti,M.D.DI.Benedetto.Approximate Output Tracking for Nonlinear Non-minimum Phase Systems with an Application to Flight Control.International Journal of Robust and Nonlinear Control,vol.4,no.3,pp.397-414,1994.
[7]	B.S.Kim,A.J.Calise.Nonlinear Flight Control Using Neural Networks.Journal of Guidance,Control and Dynamics,vol.20,no.1,pp.26-33,1997.
[8]	L.Yan,C.J.Li.Robot Learning Control Based on Recurrent Neural Network Inverse Model.Journal of Robotic Systems,vol.14,no.3,pp.199-212,1997.
[9]	G.L.Plett.Adaptive Inverse Control of Linear and Nonlinear Systems Using Dynamic Neural Networks.IEEE Transactions on Neural Networks,vol.14,no.2,pp.360-376,2003.
[10]	Z.Su,K.Khorasani.A Neural Network Based Controller for a Single-Link Flexible Manipulator Using the Inverse Dynamics Approach.IEEE Transactions on Industrial Electronics,vol.48,no.6,pp.1074-1086,2001.
[11]	K.S.Narendra,S.Mukhopadhyay.Adaptive Control Using Neural Networks and Approximate Models.IEEE Transactions on Neural Networks,vol.8,no.3,pp.475-485,1997.
[12]	S.He,K.Reif.R.Unbehauen.A Neural Approach for Control of Nonlinear Systems with Feedback Linearization.IEEE Transactions on Neural Networks,vol.9,no.6,pp.1409-1421,1998.
[13]	H.Demuth,M.Beale.Neural Network Toolbox User's Guide,4th ed.,The MathWorks,Natick,MA,2002.

Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

Abstract

References

Metrics

Related Articles

通讯作者: 陈斌, bchen63@163.com

Metrics

Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

HTML

Catalog

Export File

Citation

Format

Content