Affiliation:
1. Botswana International University of Science & Technology (BIUST)
2. Botswana International University of Science and Technology
Abstract
Artificial neural networks (ANN), an Artificial Intelligence (AI) technique, are both bio-inspired and nature-inspired models that mimic the operations of the human brain and the central nervous system that is capable of learning. This paper is based on a system that optimizes the performance of an uncertain unmanned nonlinear Multi-Input Multi-Output (MIMO) aerodynamic plant called Twin Rotor MIMO System (TRMS). The pitch and yaw angles which are challenging to control and optimize in practice, are being used as the input to the Nonlinear Auto-Regressive with eXogenous (NARX) model, and eventually trained. The training features use the Matlab Deep Learning Toolbox. The NARX structure has its core in the neural networks’ architecture. Data is collected from the TRMS testbed which is used to train the network. ANN as a Hybrid intelligent control strategy of ANN in combination with Pattern Search and Genetic Algorithm, is then utilized to optimize the parameters of the neural networks. At the end it was validated, tested and the optimized system run in simulation and compared with other intelligent and conventional controllers, with the proposed controller outperforming them, giving a very fast tracking control, stable and optimal performance that satisfactorily met all our design requirements.
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