The Development of Neural Network Based System Identification ...

LIST OF FIGURES
1.1 Examples of typical applications of helicopter based UAS. 2
2.1 The categories of helicopter based UAS based on size, payload and flight
performance. 18
2.2 The structure overview of guidance, navigation and control system for
helicopter based UAS [Kendoul, 2012]. 19
2.3 Typical arrangement of component forces and moments generation in
helicopter simulation model. Figure adapted from Padfield [2007] and
Cai et al. [2013]. 21
2.4 The representation of state and input variables. 23
2.5 A simplified representation of a biological neuron. 28
2.6 The representation of neural network training process. 34
2.7 An overview of gain scheduling control approach. 37
2.8 The configuration of adaptive control system: (a) direct adaptive controller;
and (b) indirect adaptive controller. 39
2.9 The NN based direct inverse control. 41
2.10 The general schematic diagram of an on-line training feed-forward NN
based control where a neural network is added to the existing control
system. 43
2.11 The general schematic diagram of a NN based feedback linearisation
approach. Figure adapted from [Hagan and Demuth, 1999]. 44
2.12 The implementation concept of model predictive control (MPC). 46