Control of uncertain systems by feedback linearization with neural networks augmentation. Part II. Controller validation by numerical simulation

Abstract

The paper was conceived in two parts. Part I, previously published in this journal, highlighted the main steps of adaptive output feedback control for non-affine uncertain systems, having a known relative degree. The main paradigm of this approach was the feedback linearization (dynamic inversion) with neural network augmentation. Meanwhile, based on new contributions of the authors, a new paradigm, that of robust servomechanism problem solution, has been added to the controller architecture. The current Part II of the paper presents the validation of the controller hereby obtained by using the longitudinal channel of a hovering VTOL-type aircraft as mathematical model.

Keywords

• uncertain systems
• relative degree
• adaptive control
• pseudo control
• feedback linearization
• dynamic inversion
• neural network
• robust servomechanism problem
• Kalman synthesis
• internal model
• stabilizing compensator
• VTOL-type aircraft
• numerical simulation