Document Zbl 1254.93087

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The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system’s stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures.</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A6123702">Cited in <strong>5</strong> Documents</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C40" title="MSC2020">93C40</a> </td> <td class="space"> Adaptive control/observation systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A68T05" title="MSC2020">68T05</a> </td> <td class="space"> Learning and adaptive systems in artificial intelligence </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C85" title="MSC2020">93C85</a> </td> <td class="space"> Automated systems (robots, etc.) in control theory </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Aadaptive+flight+control">adaptive flight control</a>; <a href="/?q=ut%3Asliding+mode+online+learning">sliding mode online learning</a>; <a href="/?q=ut%3Avariable+learning+rate">variable learning rate</a>; <a href="/?q=ut%3Aunmanned+aircraft+system">unmanned aircraft system</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1254.93087" data-ciurl="/ci/06123702" data-biburl="/bibtex/06123702.bib" data-amsurl="/amsrefs/06123702.bib" data-xmlurl="/xml/06123702.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/06123702.pdf" title="Zbl 1254.93087 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1016/j.neunet.2012.02.025" aria-label="DOI for “Fault-tolerant nonlinear adaptive flight control using sliding mode online learning”" title="10.1016/j.neunet.2012.02.025">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Brockhaus, R.; Alles, W.; Luckner, R., Flugregelung (2011), Springer-Verlag: Springer-Verlag Berlin</td> </tr><tr> <td>[2]</td> <td class="space">Burken, J.; Nguyen, N. 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