Adaptive Control of Aircraft Dynamics Using Neural Networks

Kyungmoon Nho and Ramesh K. Agarwal National Institute for Aviation Research Wichita State University, Wichita, Kansas 67260
Abstract
In this paper a neural network model-based predictive control strategy for aircraft systems with unknown parameters is presented. The objective of the paper is to stabilize unknown systems by the adaptive control law through an optimization procedure in which a cost function representing the deviation error between set-points and the predicted outputs obtained from a neural network is minimized Due to its capability of characterizing dynamic functional relationships and its feedback processing structure, a recurrent neural network is employed as an adaptive estimator for future state values. The neural network training is performed by the dynamic sequential recursive backpropagation learning algorithm, which allows the neural network to be trained on-line. It is shown that the proposed neural network learning algorithm has potential for designing flight control systems which can compensate for unpredictable changes in an aircraft dynamics over a wide range of flight conditions and other
uncertainties.

model-based predictive control system structure. The proposed NN model is a recurrent type NN trained by dynamic sequential recursive backpropagation learning algorithm (DSRB) [3]. The on-line DSRB based learning with continuous correction is effectively applicable to realize the dynamic functional relationships in a system with changing parameters or uncertainties. In Section 11, the structure of the NN and the mechanics of DSRB algorithm are explained. Section I11 presents the procedures of designing the predictive NN-based controller and discusses the problems related to its V implementation. Section I summarizes the simulation results for a helicopter and a fighter aircrafi dynamic system. The results are compared with those obtained from the direct application of an optimal controller with deterministically known plant parameters. Finally, the paper concludes with Section V.

II. Neural Networks and the L e d g Algorithm

I. Introduction
A nonlinear dynamic system in discrete time can be modeled from the control input to the system output as
xk+l

It has been shown that neural networks ("s) can be successfully implemented in modeling and control of unknown nonlinear systems. The widely used neural network structure for control is based on the conventional adaptive control strategies: indirect and direct [1,2]. In the indirect adaptive control, a NN is trained to attain the similar dynamic behavior as the controlled plant and the controller parameters are updated by using the NN-based identified model. In contrast to the indirect control, the direct control requires no identification process but the control parameters are directly determined by applying an adaptive algorithm to reduce the system output error between a plant and a reference model.

=f ( X k , u k )

(1)

where x E R" and U E R" are the state system output and input respectively. For training, the error is defined as
e = x k -wk (2) where W E R" denotesthe setpoint. Recurrent neural networks @"s) are often known as the feedback networks due to the feedback loop fiom the network outputs to its inputs. The RNN employed in this work is a two hidden layer network with one output in which the RNN is trained to predict only one state variable, thus for x E R" the number of RNNs becomes m. It takes up more memory and probably learning time too but it is expected to give a better prediction by reducing the number of NN output variables to one, which dramatically alleviates the complexity of training. The block diagram of RNN training for a nonlinear dynamic system in discrete time is depicted in Fig. 1.

In the two adaptive methods mentioned above, it is assumed that at least the signs of the controller parameters are known, otherwise the stable controller derivation becomes very complex even in a linear time-invariant vector system. Our work is motivated by the possibility of a simple control strategy using NN models directly in the

0-7803-5529-6/99/$10.00 01999 IEEE

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One of the critical issues in the application of recurrent networks is the development of suitable training procedures [4]. The delta-rule based backpropagation is applied to train the recurrent network and the dynamic sequential recursive backpropagation learning algorithm (DSRB) is adopted as the training scheme. The basic principle of DSRB training procedure is to update the weights at each step through time sequentially. Then after each step the weights are updated one more time in recursive training manner. The following pseudo codes explain the procedure.

shown in Fig. 2. Once a NN model is considered to be converged with a certain amount of accuracy, it becomes ready for use within the neural predictive control scheme to provide predictions of the controlled system outputs. To determine the control actions which minimize the deviations of the predicted outputs from setpoints, the downhill simplex method is employed. The downhill simplex method due to Nelder and Mead [5,6] requires only function evaluations obtained from the NN model, not the derivatives. The proposed performance index to be minimized is
J

DSRB Learninp Algorithm

Training Cycles (1 ..NTC) Sequential Training (i ..NTP)
Forwardpropagation { Backpropagation
=

&+I

-%+I

) %+I T

-W k + l )+

% : U

(3)

Recursive Training (1 ..i)

End Recursive Training End Sequential Training End Training The DSRB learning algorithm defined above is used for both off-line and on-line training. For on-line training, the number of training points NTP is assigned to use three previous time steps of data.

'

Forwardpropagation Bac$ropagation

where i k + l and wk+l are the predicted plant output state vector and setpoint vector respectively. The sum of the squares of the control action is also taken into account in order to achieve the minimum control effort. S is a real symmetric positive semi-definite weighting matrix for the ros tracking e r r and R is a real symmetric positive definite matrix for the control inputs.

I_
Fig. 2 Structure of neural network model-based predictive controller The procedures for neural predictive control is summarized as follows:
1. Train RNN for each state variable (off-line training) 2. Find the control input uk using the minimization method with the predicted output i k + l from identified NN model. 3. Apply found in Step 2 to a controlled plant 4. Update the RNNs weights by training the previous data set xk , and x k + l (on-line training). 5. Go back to Step 1.

lG * p
Identification
*k+I

Fig. 1 Recurrent neural network modeling of unknown dynamic system (off-line training)

III. Neural Network Model-based Predictive Controller

Neural network model-based predictive control strategy is a control technique which minimizes future output deviations f o setpoints by applying one of the rm minimization algorithms. The structure of the neural network model-based predictive controller (NNMPC) is

IV.Simulation Results for Two Flight Control

Systems

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We consider the linear longitudinal dynamics of a helicopter and a F-16 fighter aircraft. To assess the capability of the proposed RNN based predictive controller, the simulation results are compared with those obtained from linear quadratic regulator (LQR), for which all the system parameters are assumed to be known. Helicouter The state space linear model of longitudinal motion of a helicopter [7] is given by

-1.9311e-2 8.8157 -32.17 -2.5389e-4 -1.0189 0.0 00 . 0.0 00 . 2.946%-12 0.8223 00 . 0.1737

-0.575 0.9051 1 .o - 1.07741

-0.1756
In this case, NNMPC is employed to stabilize the longitudinal motion of F-16 b; providing satisfactory natural frequency and damping for the short-period mode. The simulation results are also compared with the LQR simulations. All the figures clearly exhibit the excellent handling capability of NNMPC for unknown dynamics. The weighting matrices S and R are selected as

where q, 8 and vu are pitch rate, pitch angle of the fuselage, and horizontal forward velocity respectively and the control input 6 is the rotor tilt angle. The system is unstable with both zeros and poles in the right hand plane

WP).
For large initial flight conditions q = 0.5 rads, 0 = 0 1rad . and vu = 0 m/s, the resulting closed-loop responses of the rotor tilt angle to track the longitudinal speed are shown in Figs. 3, 4 and 5. Although NNMPC method has bigger overshoot and settling time than LQR does, it is concluded that N " C performs well for stability and control of unkaown linear system. The weighting matrices S and R in (3) are selected as
S=

[lo
S=Io

o o io5 o
0 0

lo

andR=l.

10

1021

i'"
O

io3 O l O

andR=l.

Figure 6 shows the time history of the rotor tilt angle.

F-16
The longitudinal equations of motion of a F-16 fighter are considered for a trimmed flight condition with U = 502 Ws,a=0.0393 rad, 0=0.0393 rad and Q=Orad/s. The state vector is
x=[v,,a,&qP,

time (sec)

Fig. 3 Helicopter pitch rate response

(5)

where v, , a, e and q are longitudinal velocity, angle of attack, pitch angle, and pitch rate respectively. The single control input is the elevator deflection 6 in degrees. The , state equation in matrix form [8] becomes
1 = Ax+ B 6 , ,

9.2

-...............+................. i.................; .._...___...._.... i.................

: ---_-_-LQR
:

-Y M P C

(6)
time (sec)

where

Fig. 4 Helicopter pitch angle response

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time (sec)

time (sec)

Fig. 5 Helicopter longitudinal forward velocity response

Fig. 9 F-16 pitch rate response

-0.6 time (sec)

8 12 time (sec)

16

20

Fig. 6 Rotor tilt angle input response

Fig. 10 F- 16 pitch angle response

1
--O

;
4

I
8
12
time (sec)

-NNMPC
16

I
20 0
4
8 12 time (sec)
16 20

Fig. 7 F-16 longitudinal forward velocity response

0.4

Fig. 11 Elevator deflection input response

V. Conclusion
02 . 3
a c n

1 0.0

6.2

i -NNMPC
6.4

8 12 time (sec)

16

20

In this work, the predictive control strategy using RNNs as an identification model is presented. A RNN based model is incorporated into a neural network predictive control strategy and is used to predict future states. The control input values are calculated by minimizing the errors between the predicted outputs and the desired reference outputs by applying an effective minimization algorithm. In this paper the Nelder-Mead minimization algorithm is employed to determine the control inputs which minimize the deviation error.

Fig. 8 F-16 angle of attack response

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The development of the training mechanism called DSRB is focused on modeling a dynamic system which is accurate enough to reproduce. The simulation studies on these systems reveal that RNN based identification and control can be very effective and robust. Compared to the conventional adaptive control, the modeling approach using neural networks reduces the elaborate work in system identification schemes and algorithms. It has been observed that the control design for unknown dynamics of systems in state space results in fairly simple procedure with more accurate results in terms of tracking reference outputs. There are many reasons to believe that the NNMPC method can also be successfully used for control of multivariable non-linear systems of higher dimensions. In addition, most dynamic systems to be controlled have time-varying uncertain parameters. In particular, an aircraft may be subjected to a variety of flight conditions or unexpected disturbances and sometimes may experience considerable mass changes in a very short time, which result in large variations in aircraft parameters. Thus the NNMPC should prove to be more robust in practical situations.

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