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A direct adaptive neural command controller design for an unstable helicopter

Kumar, Vijaya M and Suresh, S and Omkar, SN and Ganguli, Ranjan and Sampath, Prasad (2009) A direct adaptive neural command controller design for an unstable helicopter. In: Engineering Applications of Artificial Intelligence, 22 (2). pp. 181-191.

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Abstract

This paper presents an off-line (finite time interval) and on-line learning direct adaptive neural controller for an unstable helicopter. The neural controller is designed to track pitch rate command signal generated using the reference model. A helicopter having a soft inplane four-bladed hingeless main rotor and a four-bladed tail rotor with conventional mechanical controls is used for the simulation studies. For the simulation study, a linearized helicopter model at different straight and level flight conditions is considered. A neural network with a linear filter architecture trained using backpropagation through time is used to approximate the control law. The controller network parameters are adapted using updated rules Lyapunov synthesis. The off-line trained (for finite time interval) network provides the necessary stability and tracking performance. The on-line learning is used to adapt the network under varying flight conditions. The on-line learning ability is demonstrated through parameter uncertainties. The performance of the proposed direct adaptive neural controller (DANC) is compared with feedback error learning neural controller (FENC).

Item Type: Journal Article
Additional Information: Copyright of this article belongs to Elsevier Science.
Keywords: Neural network;Helicopter;Aircraft control;Neural controller;Backpropagation.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 30 Apr 2009 04:43
Last Modified: 19 Sep 2010 05:29
URI: http://eprints.iisc.ernet.in/id/eprint/19648

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