The Development of Neural Network Based System Identification ...

TABLE OF CONTENTS
CHAPTER 1 INTRODUCTION 1
1.1 Background of the Research 1
1.2 Problem Statement 3
1.3 Research Objectives 8
1.4 Thesis Contributions 8
1.5 Thesis Organisation 11
CHAPTER 2 LITERATURE REVIEW 15
2.1 Introduction 15
2.2 Helicopter Dynamics Modelling and System Identification 20
2.3 Neural Network Based System Identification 27
2.3.1 NN Model Structure Used for Dynamics Modelling 29
2.3.2 NN Training Algorithms 33
2.4 Automatic Flight Control System 36
2.4.1 Neural Network Based Control Design for Unmanned
Helicopter System 39
2.4.2 Neural Network Based Model Predictive Control 45
2.5 Summary 52
CHAPTER 3
AERIAL PLATFORM AND CUSTOM-BUILT
FLIGHT TEST SYSTEM 55
3.1 Introduction 55
3.2 Air Vehicle Descriptions 56
3.3 The Development of Test Stand for Safe Flight Control
Testing 63
3.3.1 Design Concept of The Test Stand 64
3.4 Flight Instrumentation Setup for Automatic Flight Control
Test 67
3.4.1 Positioning and Orientation System 68
3.4.2 On-board Controller 71
3.4.3 Inertial Measurement Unit 72
3.5 Flight Instrumentation Setup for System Identification 73
3.6 Summary 75