Lecture 36

Neuro-Adaptive Design - I:
A Robustifying Tool for Dynamic Inversion Design

Dr. Radhakant Padhi

Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore

Motivation

Perfect system modeling is difficult Sources of imperfection:

Unmodelled dynamics (missing algebraic terms in the model) Inaccurate knowledge of system parameters
and/or change of system parameters during operation Inaccuracy in computations (like matrix inversion)

Objective: To increase the robustness of dynamic inversion with respect to parameter and/or modeling inaccuracies
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 2

Reference B. S. Kim and A. J. Calise, Nonlinear Flight Control Using Neural Networks, Journal of Guidance, Control and Dynamics, Vol. 20, No. 1, 1997, pp. 26-33.

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
System

= f ( X , X , ) X Rn , Rm X,X

Assumptions:

Goal:

are available for control computation (1) X , X , Rm ) ( 2 ) m = n (square system, i.e. X , X ( 3) f is invertible X Xc ( X c : commanded signal ) and X X c
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 4

Neuro-adaptive design
Ideal Case: Define

X X X c

Design such that

+K X +K X = 0 , where K , K > 0 X d p p d If
Then

( pdf matrices )

K d = diag kdi , K p = diag k pi , k pi , kdi > 0 i + kdi x i + k pi x i = 0 x i + k pi x i = 0 xi + kdi x

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 5

( )

( )

x (

ci

Neuro-adaptive design
i + k pi x i xi = xci + kdi x ui (i compoent of "pseudo control")
th

Repeating this exercise for i = 1, 2,...., n = U (U : Pseudo control variable) we get X , ) = U f (X,X with the assumtion ( X , X ,U ) that the inverse exits
6

=f

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
Note: Real - time computation of this inverse may be difficult. In the case, a Neural Network can learn this relationship offline (in an approximate sense)

= f 1 X , X ,U = NN X , X ,U i.e, 1

Problem: The model and the neural network training are NOT perfect....these introduce errors.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 7

Neuro-adaptive design
Solution : Design another neural network to cancel this error! Design of Adaptive NN

, the system dynamics is After synthesizing = f X , X , X

f (X,X , ) + f X , X , , ) = f (X,X U U

,U ) ( X , X

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
i.e

= U + ( X , X ,U ) X

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
Note: If = 0, then the error dynamics behaves like the ideal case, and hence, the objective will be met.

Trick : Modify the Pseudo control U as U = U I U ad + K X +K X where U I = X c d p is the Pseudo control for the "ideal case". : Adaptive control to cancel the unwarted effect. and U ad
Note: Pseudo-control modification is the reason why technique is applicable to dynamic inversion only.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 10

Neuro-adaptive design
With this, the closed loop error dynamics becomes

+K X +K X =X X + K X X + KpX d p c d + K X +K X U + ( X , X ,U ) = X c d p ( X , X ,U ) = UI UI U ad Question: Can we design U X , X +K X +K X = U ,U i.e, X d p ad

ad

(adaptively ) such that

( X , X ,U ) U ad
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 11

Neuro-adaptive design
If this happens, then X ,X 0 (approximately) i th channel : ( X , X ,U ) +k x +k x =U x
i di i pi i adi i

i x Define ei i x 1 0 0 ,U ) i = U X X Then e , ( ei + ad i i k k 1 p d i i

Ai b
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 12

Neuro-adaptive design
Goal for U adi is to capture the The "ideal purpose" of U adi
function i "pefectly" so that ei 0 asymptotically However, this is difficult to achieve. Hence, aim for "practical stability "only i.e, ei remains bounded, where the bound can be made arbitrarity small.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 13

Neuro-adaptive design
,U ) be a NN realization of ( X , X ,U ) (X, X Let i i when a finite number (N ) of basis functions ,U ) , j = 1, 2,..., N are used, with the ( X , X
ij

corresponding weights of the network being ( t ) , j = 1, 2,..., N W

ij

,U ) = W ,U ) (X, X ( t ) ( X , X i.e, i ij ij
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 14

Neuro-adaptive design
i 1 i2 ,U ) = W (X, X ,W ,...,W i i i iN 1 2 ... iN i.e. ,U ) = W ,U ) = (X, X T (t ). ( X , X U adi i i i

Ideal case: ,U } , is optimized over some compact domain in { X , X When W i ,U ) = W ,U ) *. In that case * ( X , X *T ( t ) . ( X , X let the result be W i i i i * < where is the ideal error of function. and i i i i
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 15

Neuro-adaptive design
Note:

i depends on the followings:

(i) N : Size of the i th network (ii) Choice of basis functions ij ( j = 1,..., N ) (iii) Accuracy of the first neural network (which determines i )

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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Neuro-adaptive design
Estimation Error:

T ( t ) ( X , X *T ( X , X ,U ) W ,U ) T = W U adi i i i i i (t ) W ( X , X ,U ) W = i i i T ( X , X ,U ) =W i i
* T

(t ) = W (t ) W * : Error in weight at time t where, W Note: * is constant. Hence W * W (t ) = W (t ) W = W (t )

=0
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 17

Neuro-adaptive design
Notation : ,U ) = ( t , e,W ) i ( X , X i ,U ) = * ( X , X * t , e,W i i
i i

( ) ,U ) = ) (X, X ( t , e,W

used in proof

Used in implementation

x X i Note: e , ei x X i
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 18

Neuro-adaptive design
Error dynamics in i th channel : i = Ai ei + b U e adi i
i i adi

( = A e + b (U

)
) (

* + * i i i

T t , e,W +b * = Ai ei + bW i i i i

1 0 Note : Ai = is a Hurwitz matrix. k pi kdi Characteristic equation: s 2 + kdi s + k pi = 0, with kdi , k pi > 0
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 19

Neuro-adaptive design
Stability Analysis: Define a Lyapunov Function candidate: V = Vi ei ,W i
i =1 n

1 T 1 T e Pe + 2 i i i 2 Wi Wi , ei Pi > Ei i = where, Vi ei ,W i E + 1 W TW , e E ( Ei : defines "dead zone") i i i i Pi i 2 i

By definition,

ei

Pi

ei T Pe i i

Pi is a 2 2 pdf matrix satisfying

Pi Ai + Ai T Pi = Qi , Qi > 0 (pdf) Note : By the selection, Vi is continuous at the boundary of dead zone.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 20

Neuro-adaptive design
Note: (1) Existence of such a pdf matrix Pi is guaranteed by the fact Ai is Hurwitz. (2) If Qi = I , then the solution for is given by kd k pi 1 i + 1 + 2k pi 2kdi k pi Pi = 1 2k pi 1 1 1 + 2kdi k pi 1 2k pi
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ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
1 T 1 T T Vi = ( ei Pe + e Pe + W W ) i i i i i i i i 2
T A e + bW T t , e,W +b * Pe i i i i i i i i + 1W TW = i i T T * i Ai ei + bWi i t , e,W + b + ei Pi i i 1 T T 1 T * T T = ei ( Ai Pi + Pi Ai ) ei + ei Pb + + W W W i i i i i i i i 2

) ( ) ( ) (

W 1 T T T T e Pb + i ei Qi ei + ei Pb +W i i i i i i 2 2 i = e T Pb Weight update rule: W i i i i i

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 22

Neuro-adaptive design
1 eiT Qi ei + i eiT Pi Pi b 2 2 1 2 ei 2 min ( Qi ) + i eiT Pi 2 However, ei Pe i i max ( P i ) ei
T

(
2 2 2

Pi is deined since Pi is pdf Pi b

2

i.e, ei

2 2

eiT Pe i i max ( Pi )
2 2

ei

ei P ei Pe i i i = max ( Pi ) max ( Pi )
T

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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Neuro-adaptive design
1 ei Pi Vi min ( Qi ) + i 2 max ( Pi )
2

eiT Pi

)(

Pi ei

max ( Pi )

2 e Q 1 i Pi min ( i ) P = + i ei T Pe i i max ( i ) 2 max ( Pi ) ei P i e V i i

2 Pi

1 ei min ( Qi ) Pi + i max ( Pi ) 2 max ( Pi ) ei

1 Vi 0, when 2

max ( Pi )

Pi

min ( Qi )

+ i max ( Pi ) < 0
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ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Neuro-adaptive design
i.e,

1 ei Pi min ( Qi ) max ( Pi ) < 2 max ( Pi ) > 2 i max ( Pi )

3 2

i.e,

ei

Pi

min ( Qi )

Note: (1) This defines Ei , However it contains i , which is unkown. However, it may require iterative simulation study.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 25

Neuro-adaptive design
( 2 ) If Qi = I
Ei = 2 i max ( Pi ) where, Pi is given before.
3 2

also leads to the least bounds. =W TW Inside the dead zone: V i i i =0 Select W i =0 Then V i Note: By the selection, Vi is continuous at the boundary of this deadzone.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 26

( 3) Selecting Qi = I

Neuro-adaptive Design: Implementation of Controller

(1) Design Parameter selection:

( 0) = 0 W i Qi = I Pi = [formula given] Ei = 2 i max ( Pi )

3 2

( i is unknown Try with iteration)

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 27

Neuro-adaptive Design: Implementation of Controller

(2) Weight update Rule: T = W e i i i Pb i i , if ei = 0
Pi

> Ei

otherwise

i x 0 where, ei = , b = , x 1 i ,U ) : Basis function selection (X,X

i

(U : pseudo control )
i : Learing rate
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 28

Neuro-adaptive Design: Implementation of Controller

(3) Control Computation: =W T Adaptive Control: U adi i i Pseudo Control: U = U I U ad U = X c + Kd X + K p X ad 1 ( X , X = f ,U ) Actual Control: ,U ) = NN1 ( X , X
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 29

Neuro-adaptive design
Nice Results: (i) Adaption happens in finite time (ii) As t , the error ei ( t ) lies inside ( t ) approaches the deadzone and W
i

a constant value.

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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Promising Results: (Flight control Problem)

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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References

B. S. Kim and A. J. Calise, Nonlinear Flight Control Using Neural Networks, Journal of Guidance, Control and Dynamics, Vol. 20, No. 1, 1997, pp. 26-33. J. Leitner, A. J. Calise and J. V. R. Prasad, Analysis of Adaptive Neural Networks for Helicopter Flight Controls, Journal of Guidance, Control, and Dynamics, Vol. 20, No. 5, 1997, pp. 972-979. M. Sharma and A. J. Calise, Neural-Network Augmentation of Existing Linear Controllers, J. of Guidance, Control and Dynamics, Vol. 28, No. 1, 2005, pp. 12-19.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 32

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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