The Development of Neural Network Based System Identification ...

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52 CHAPTER 2 LITERATURE REVIEW wide range of environments. Although the implementation of NN based direct adaptive controller is simple, the design and tuning of the controllers are difficult, requiring a retraining of the NN controller each time the controller parameter is altered [Norgaard, 2000]. The indirect adaptive type controller such as NN based MPC is much more flexible in implementation where only the model is identified by the NN while the controller action (MPC) is calculated at each time step. The MPC controller with its anticipated benefits have been employed successfully to control helicopter based UAS and is expected to work well with the desired control performance. The NN based system identification techniques reviewed in the previous section are suitable to be used to identify the dynamic plant. Considering the convergence and computational speed issues of the NN based MPC, an approximation based NN-MPC can be used to speed up the computation speed. Based on the findings from the literature, the NN based MPC seems to fit our common goal to develop a general adaptive flight controller that can be developed with less time and effort. 2.5 SUMMARY In this chapter, a brief literature review about the definition, application and classification of the rotorcraft UAS is provided as a basic introduction to the research topic. An overview of various autonomy components that enable the rotorcraft based UAS to perform autonomous missions is presented. This research project will focus mainly on the development of automatic flight control components since the automatic control component is the first key component that needs to be addressed in order to enable a UAS to be autonomous. A brief literature review on the helicopter dynamics modelling and NN based system identification is presented. Various factors that influence the NN prediction and training performance such as the model structure selection and the choices of training algorithms are discussed and highlighted. Available literature on the different AFCS design techniques is explored with special emphasis given to flight control system
2.5 SUMMARY 53 design based on the NN approach. In the following chapter, the helicopter platform and avionic systems used for development and validating the system identification methods and control algorithms are described in detail, along with the introduction to the development of the safety test rig for the unmanned helicopter system.
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The Development of Neural Network B
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ABSTRACT This thesis presents the d
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vii the MLP network, the prediction
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PUBLICATIONS The following is a lis
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xiv TABLE OF CONTENTS CHAPTER 4 CHA
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LIST OF FIGURES 1.1 Examples of typ
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LIST OF FIGURES xix 3.13 Overview o
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LIST OF FIGURES xxi 5.2 The predict
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LIST OF FIGURES xxiii 5.13 The pred
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LIST OF FIGURES xxv 7.1 The locatio
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LIST OF TABLES 3.1 The specificatio
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NOMENCLATURE AFCS Automatic Flight
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LIST OF TABLES xxxi NNARX QP RBF RC
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4.3 SYSTEM IDENTIFICATION WITH NEUR
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4.4 SUMMARY 117 Segment 1 Segment 2
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Chapter 5 NN BASED SYSTEM IDENTIFIC
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5.2 OFF-LINE BASED SYSTEM IDENTIFIC
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5.6 ON-LINE SYSTEM IDENTIFICATION 1
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5.6 ON-LINE SYSTEM IDENTIFICATION 1
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5.7 MODEL PERFORMANCE COMPARISON US
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5.8 SUMMARY 151 methods such as wei
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5.8 SUMMARY 153 would enable the im
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156 CHAPTER 6 NEURAL NETWORK BASED
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Chapter 7 FLIGHT CONTROL SYSTEM DES
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7.2 FLIGHT TESTS IMPLEMENTATION 185
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7.3 EXPERIMENTAL RESULTS 187 1 0.8
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7.3 EXPERIMENTAL RESULTS 189 Longit
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7.3 EXPERIMENTAL RESULTS 191 Pitch
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7.3 EXPERIMENTAL RESULTS 193 Flight
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7.3 EXPERIMENTAL RESULTS 195 140 Ya
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7.3 EXPERIMENTAL RESULTS 197 indica
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7.3 EXPERIMENTAL RESULTS 199 20 100
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7.3 EXPERIMENTAL RESULTS 201 Yaw Ra
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7.3 EXPERIMENTAL RESULTS 203 mainta
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7.3 EXPERIMENTAL RESULTS 205 Yaw Ra
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7.4 SUMMARY 207 data measured from
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210 CHAPTER 8 CONCLUSIONS AND FUTUR
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212 CHAPTER 8 CONCLUSIONS AND FUTUR
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214 REFERENCES B. W. Bequette. Non-
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216 REFERENCES Konstantinos Dalamag
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218 REFERENCES Wayne Johnson. Helic
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220 REFERENCES B. Mettler, Mark B.
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222 REFERENCES V. R. Puttige and S.
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224 REFERENCES D.H. Shim. Hierarchi
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226 REFERENCES Nikos Vitzilaios and
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