The Development of Neural Network Based System Identification ...

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66 CHAPTER 3 AERIAL PLATFORM AND CUSTOM-BUILT FLIGHT TEST SYSTEM 'U' Shaped Section Flexible Cord Sliders Pitch Joint Helicopter mounting point Servo Lock Mechanism Bent Section Yaw Joint Counterweight (a) Roll Joint Servo Lock Mechanism (b) Figure 3.8 The roll, pitch and yaw motion arrangement in test stand. (a) Test stand view from the side; and (b) Test stand view from the back. their targets before flipping the locking switch. The returning mechanism of locking metal shafts is further improved by replacing the solenoid mechanism with rotational servomechanism. Figure 3.9 shows the operation of the servomechanism to lock the rotation motion. Simple servo controller was used to control the movement of the servos. The rotational movement of the servos can be translated into the linear motion of the metal shaft by using a small scale SCARA arm.
3.4 FLIGHT INSTRUMENTATION SETUP FOR AUTOMATIC FLIGHT CONTROL TEST 67 Figure 3.9 The servo locking mechanism of the rotational motion (roll, pitch and yaw) of the test rig. 3.4 FLIGHT INSTRUMENTATION SETUP FOR AUTOMATIC FLIGHT CONTROL TEST The overall architecture for an automatic flight control system consists of components such as the remote controlled (RC) helicopter platform, the flying test stand, an on-board computer systems and a ground control station (GCS) as shown in Figure 3.10. Generally, the automatic flight control system is divided into ground and onboard components. The altitude (linear position transducer) and translational position (rotary encoders) sensors are mounted on the test stand and wire connected to the on-board computer’s digital input-output (DIO) port. The on-board computer system is considered the most important part in the overall system. It functions as a data logger in charge of collecting necessary flight data from sensors and servo inputs, handling switching between autonomous control and manual control as well as implementing flight control laws. The manual control system, which is normally a radio controlled joystick transmitter, is used by a human pilot to control the helicopter in manual flight tests. The standard RC system serves as a backup in case the autopilot fails and it is also very useful in the process of controller design. Lastly, the GCS system is used as on-line monitoring of the UAV helicopter and to communicate with the on-board computer system to control some logical states and controller settings from ground.
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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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2 CHAPTER 1 INTRODUCTION Surveillan
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4 CHAPTER 1 INTRODUCTION is then de
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6 CHAPTER 1 INTRODUCTION the dynami
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8 CHAPTER 1 INTRODUCTION models [Sa
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10 CHAPTER 1 INTRODUCTION improved
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12 CHAPTER 1 INTRODUCTION Chapter 3
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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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