Design of an adaptive missile autopilot considering the boost phase using the SDRE method and neural networks

Lee, Jae-Ho; Lee, Yong-Woo; Kim, Youdan; Moon, Geol; Jun, Byung-Eul

doi:10.1016/j.jfranklin.2016.12.004

Cited by 10 publications

(6 citation statements)

References 40 publications

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“…However, deriving an accurate reference model to track and yield adaptive control decisions is a cumbersome process [17]. The nonlinear quadratic regulator (NQR) for under-actuated mechatronic systems can be systematically synthesized by utilizing state-dependent Riccati equation (SDRE) [18]. However, identifying accurate state-driven coefficients of the state-space matrices belonging to a higher-order nonlinear multivariable system (with complex geometry) is indeed a very difficult task.…”

Section: Literature Reviewmentioning

confidence: 99%

Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification

Saleem,

Rizwan,

Iqbal

2023

PLoS ONE

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This paper formulates an innovative model-free self-organizing weight adaptation that strengthens the robustness of a Linear Quadratic Regulator (LQR) for inverted pendulum-like mechatronic systems against perturbations and parametric uncertainties. The proposed control procedure is devised by using an online adaptation law to dynamically adjust the state weighting factors of LQR’s quadratic performance index via pre-calibrated state-error-dependent hyperbolic secant functions (HSFs). The updated state-weighting factors re-compute the optimal control problem to modify the state-compensator gains online. The novelty of the proposed article lies in adaptively adjusting the variation rates of the said HSFs via an auxiliary model-free online self-regulation law that uses dissipative and anti-dissipative terms to flexibly re-calibrate the nonlinear function’s waveforms as the state errors vary. This augmentation increases the controller’s design flexibility and enhances the system’s disturbance rejection capacity while economizing control energy expenditure under every operating condition. The proposed self-organizing LQR is analyzed via customized hardware-in-loop (HIL) experiments conducted on the Quanser’s single-link rotational inverted pendulum. As compared to the fixed-gain LQR, the proposed SR-EM-STC delivers an improvement of 52.2%, 16.4%, 55.2%, and 42.7% in the pendulum’s position regulation behavior, control energy expenditure, transient recovery duration, and peak overshoot, respectively. The experimental outcomes validate the superior robustness of the proposed scheme against exogenous disturbances.

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Section: Literature Reviewmentioning

confidence: 99%

Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification

Saleem,

Rizwan,

Iqbal

2023

PLoS ONE

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“…Under long-drifting disturbances, the conventional model-predictive controllers deliver wrong predictions which leads to a fragile control effort (Yuan et al, 2018). The process of accurately defining the state-dependent-coefficient matrices, for the State-Dependent Riccati Equation based controllers, is very cumbersome due to the limitations imposed by the complex geometry of the nonlinear systems (Lee et al, 2018). The hierarchical adaptive state-feedback regulators are realized by adaptively modulating the weighting factors associated with the regulator’s performance index to modify the controller gains (Zhang et al, 2014; Saleem and Mahmood-Ul-Hasan, 2020).…”

Section: Introductionmentioning

confidence: 99%

An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors

Saleem

2022

Journal of Vibration and Control

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This paper synthesizes an innovative nonlinear-type self-adaptive Linear Quadratic Regulator (LQR) to enhance the robustness of under-actuated systems against bounded exogenous disturbances by using the relative-rate and state-error feedback. The control procedure is realized by augmenting the generic LQR with an online reconfiguration block that acts as a superior regulator to dynamically adjust the state-weighting-factors associated with the quadratic-performance index. The Riccati Equation uses the modified state-weighting-factors to re-compute the LQR problem and delivers the time-varying state-feedback gains. The said weighting-factors are adaptively modulated via a conventional state-error-magnitude-driven adaptation law that is retrofitted with auxiliary relative-rate-driven reconfiguration blocks. These blocks utilize error acceleration to deduce the response speed and thus re-adjust the variation rate of the weights in real time. This arrangement reinforces the controller’s adaptability to flexibly manipulate the tightness of the applied control effort. The proposed scheme is analyzed by conducting real-time hardware experiments on the QNET Rotary Pendulum. The experimental outcomes validate the superior position-regulation and disturbance-rejection behavior of the proposed scheme.

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“…DOI: https://doi.org/10.1016/j.mechatronics.2021.102641 quadratic cost function enables the trade-off by tuning the weighting matrices. The controller has been widely used in different areas such as aerospace [27], robotics [28], missile [29], permanent magnet synchronous motors [30], pendulums [31], atomic force microscopy [32], etc. The application of the SDRE in quadrotor control was reported for the first time in 2006 [33].…”

Section: Introductionmentioning

confidence: 99%

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

et al. 2021

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This paper investigates the inspection-of-pipe topic in a new framework, by rotation around a pipe, peculiar to industrial sites and refineries. The evolution of the ultimate system requires prototype design and preliminary tests. A new benchmark has been designed and built to mimic the rotation around a pipe, with the main purpose of assessing the different types of rotors and control systems. The benchmark control system presents a mechatronics package including mechanical design and machining, electronics and motor drive, motor-blade installation, computer programming, and control implementation. The benchmark is also modular, working with two modes of one-and two-degree-of-freedom (DoF), easily interchangeable. To cover a full rotation, conventional fixed-pitch drones fail to provide negative thrusts; nonetheless, variable-pitch (VP) rotor quadcopters can produce that in both directions. A closed-loop nonlinear optimal controller is chosen for real-time communication, so-called, "the statedependent Riccati equation (SDRE)" approach. Optimal control policies are challenging for experimentation though it has been successfully done in this report. The advantage of the VP is also illustrated in a rotation plus radial motion in comparison with fixed-pitch rotors while a wind gust disturbs the inspection task. The proposed VP system compensated the disturbance while the fixed-pitch was pushed away by the wind gust. The solution methods to the SDRE were mixed, a closed-form exact solution for the one-DoF system, and a numerical one for the two-DoF. Solving the Riccati online in each time step is a critical issue that was effectively solved by the implementation approach, through online communication with MATLAB software. Both simulations and experiments have been performed along with a discussion to prove the application of VP systems in rotary-motion pipe inspection.

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Design of an adaptive missile autopilot considering the boost phase using the SDRE method and neural networks

Cited by 10 publications

References 40 publications

Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification

Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification

An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

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