Neural Network and Dynamic Inversion Based Adaptive Control for an HALE-UAV against Icing Effects
Yiyang Li, Lingquan Cheng, Jiayi Yuan, Jianliang Ai, Yiqun Dong
Abstract
In the past few decades, in-flight icing has become a common problem for many missions, potentially leading to a reduction in control effectiveness and flight stability, which would threaten flight safety. One of the most popular methods to address this problem is adaptive control. This paper establishes a dynamic model of an iced high-altitude long-endurance unmanned aerial vehicle (HALE-UAV) with disturbance and measurement noise. Then, by combining multilayer perceptrons (MLP) with a nonlinear dynamic inversion (NDI) controller, we propose an MLP-NDI controller to compensate for online inversion errors and provide a brief proof of control stability. Two experiments were conducted: on one hand, we compared the MLP-NDI controller with other typical controllers; on the other hand, we evaluated its robustness and adaptiveness under different icing conditions. Results indicate that the MLP-NDI controller outperforms other typical controllers with higher tracking accuracy and exhibits strong robustness in the presence of icing errors and measurement noise, which has huge potential to ensure flight safety.