Robust Nonlinear Adaptive Control of Unmanned Aerial Vehicles Using Neural Networks

本研究的目的是设计并实验验证基于神经网络的无人机(UAVs)鲁棒非线性自适应控制器。该方法是使用基于多层感知器的预先训练的和在线的神经网络。利用动态非线性阻尼的概念对自适应律进行修正，以增强对未建模动态的鲁棒性。利用Lyapunov稳定性定理，推导出在线神经网络的稳定权值调整规则。智能优点这项研究通过使用自适应控制器，将增加无人机操作的健壮性。缺乏健壮性限制了无人机的使用，尽管它们有可能在许多类型的任务中取代有人驾驶的车辆。此外，随着无人机自主性水平的提高，设计能够在整个飞行包线内工作的控制器也很重要。这项研究将涉及一个由加州保利·波莫纳大学工程系和计算机科学系的教员组成的跨学科团队。将使用现有的无人机机队和免费资源。更广泛的影响提高无人机的耐用性将有可能扩大和增加无人机在救援任务、边境巡逻、科学研究等方面的使用，这将对社会产生重大的积极影响。这项研究将涉及一些本科生和代表性不足的学生。本研究也将对课程改革有所帮助。此外，该项目将有助于提高大学的研究能力，该大学是一个拉美裔服务和指定的本科生机构。研究成果将通过会议报告和在期刊上发表向智能系统社区传播。

The objective of this research is to develop and experimentally validate robust nonlinear adaptive controllers for unmanned aerial vehicles (UAVs) using neural networks. The approach is to use both pre-trained and on-line neural networks based on multilayer perceptrons. The concept of dynamic nonlinear damping will be applied to modify the adaptation law to increase the robustness in the presence of unmodeled dynamics. A stable weight adjustment rule for the on-line neural network will be derived using a Lyapunov stability theorem. Intellectual MeritThis research, through the use of adaptive controllers, will increase the robustness of UAV operations. The lack of robustness has limited the use of UAVs, despite their potential to replace manned vehicles for many types of missions. Also, as the level of UAV autonomy increases, it is important to design controllers that can work in the entire flight envelope. This research will involve an interdisciplinary team of faculty members from the Engineering and Computer Science Departments at Cal Poly Pomona. An existing fleet of UAVs and complimentary resources will be used. Broader ImpactIncreased UAV robustness will have potential to extend and increase the use of UAVs for rescue missions, border patrol, scientific research, etc., which will have a significant positive impact on society. This research will involve a number of undergraduate and underrepresented students. This research will also be helpful in curriculum improvement. Moreover, this project will help enhance the research capability of the University, a Hispanic Serving and Designated Undergraduate Institution. Research results will be disseminated to the Intelligent Systems community via conference presentations and publication in journals.