PECASE: Robust Intelligent Control, Demonstrated for Reconfigurable Flight Systems

各种技术和应用的最新进展要求提高性能和可靠性，同时加剧了系统及其周围环境的复杂性和不确定性。尽管经典控制理论已经允许高度的机器自动化，但对显示智能行为的系统的新兴趣正在跨学科出现。提出的研究将开发一种新的自适应控制方法，该方法通过s型神经网络近似非线性控制律，并根据实际植物动态在线优化其性能。将近似动态规划与积分二次约束相结合，证明了神经网络控制器与经典h∞控制器具有相同的闭环稳定性和鲁棒性保证。确保在适应过程中保留这些特性，将使自适应设计适用于安全性最重要的应用，例如可重构飞机控制。作为拟议研究的一部分，自适应控制方法不仅将通过数值模拟，还将通过实验来证明。第一个试验台将由一个悬臂梁和用作干扰和控制源的压电装置组成。在实验中，将测试自适应控制器减少前两个自然模态振动的有效性，并与参数保持固定的控制器进行比较。在考虑了这种低维系统之后，将采用该方法设计基于雷声公司电传飞机实验模型的自适应飞行控制器。飞行控制器将在威奇托州立大学（WSU）一个经验丰富的研究小组开发的有人驾驶模拟器上进行测试。随后，PI将与wsu集团和雷神飞机公司合作，将控制软件与机载计算机连接起来，并通过一系列实验飞行在“富矿号”上进行测试。控制理论和实践的研究和教育将通过为本科生和TIP高中学生设计一套实验来整合，这些实验采用以下测试平台：振动悬臂梁，声学罩和扑动微型飞行器。这个项目的更广泛的影响是创造了一个倡议，让从K12到研究生院的学生接触到航空航天工业和美国宇航局正在进行的先进控制研究和实验。通过带领本科生和TIP学生进行这些实验，PI的研究生将成为一个多元化和有天赋的年轻人群体的重要榜样。

Recent advances in a variety of technologies and applications call for improved performance andreliability, while exacerbating the complexity and uncertainty of systems and their surroundings.Although classical control theory already allows for a high degree of machine automation, arenewed interest in systems that display intelligent behavior is emerging across disciplines. Theproposed research will develop a novel adaptive control approach that approximates the nonlinearcontrol law by a sigmoidal neural network, and optimizes its performance on line, subject toactual plant dynamics. By combining approximate dynamic programming and integral quadraticconstraints, it can be shown that the neural network controller is characterized by the sameclosed-loop stability and robustness guarantees as classical H-infinity controllers. Ensuring thatthese properties are preserved during adaptation will make the adaptive design viable forapplications where safety is a leading concern, such as, reconfigurable aircraft control.As part of the proposed research, the adaptive control approach will be demonstrated not onlythrough numerical simulations, but also through experiments. The first testbed will consist of acantilevered beam with piezoelectric devices used as disturbance and control sources. In theexperiments, the effectiveness of the adaptive controller for reducing the vibration of the first twonatural modes will be tested and compared to that of controllers with parameters held fixed.After considering this low-dimensional system, the approach will be implemented to design anadaptive flight controller based on the model of an experimental fly-by-wire Raytheon Bonanzaaircraft. The flight controller will be tested on a piloted simulator developed by an experiencedresearch group at Wichita State University (WSU). Subsequently, the PI will work with the WSUgroup and Raytheon Aircraft Company on interfacing the control software with the on-boardflight computer, and on testing it on the Bonanza through a set of experimental flights.Research and education on control theory and practice will be integrated by designing a set ofexperiments for undergraduate and TIP high-school students that employ the following testbeds: avibrating cantilevered beam, an acoustic enclosure, and a flapping micro-aerial vehicle. Thebroader impact of this project is the creation of initiatives that expose students from K12 throughgraduate school to advanced control research and experiments being conducted in the aerospaceindustry and at NASA. By leading undergraduates and TIP students through these experiments,the PI's graduate students will become important role models for a diverse and gifted group ofyoungsters.