Deterministic learning enhanced neutral network control of unmanned helicopter

Yiming Jiang, Chenguang Yang, Shi Lu Dai, Beibei Ren

Research output: Contribution to journalArticle

10 Scopus citations

Abstract

In this article, a neural network-based tracking controller is developed for an unmanned helicopter system with guaranteed global stability in the presence of uncertain system dynamics. Due to the coupling and modeling uncertainties of the helicopter systems, neutral networks approximation techniques are employed to compensate the unknown dynamics of each subsystem. In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is also integrated into the control design, such that the resulted neural controller is always valid without any concern on either initial conditions or range of state variables. In addition, deterministic learning is applied to the neutral network learning control, such that the adaptive neutral networks are able to store the learned knowledge that could be reused to construct neutral network controller with improved control performance. Simulation studies are carried out on a helicopter model to illustrate the effectiveness of the proposed control design.

Original languageEnglish
Pages (from-to)1-12
Number of pages12
JournalInternational Journal of Advanced Robotic Systems
Volume13
Issue number6
DOIs
StatePublished - Nov 15 2016

Keywords

  • Unmanned helicopter
  • deterministic learning
  • global neural control

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