Design of Hybrid Neural Controller for Nonlinear MIMO System Based on NARMA-L2 Model

ABSTRACT

This paper introduces a nonlinear adaptive controller of unknown nonlinear dynamical systems based on the approximate models using a multi-layer perceptron neural network. The proposal of this study is to employ the structure of the Multi-Layer Perceptron (MLP) model into the NARMA-L2 structure in order to construct a hybrid neural structure that can be used as an identifier model and a nonlinear controller for the MIMO nonlinear systems. The big advantage of the proposed control system is that it doesn’t require previous knowledge of the model. Our ultimate goal is to determine the control input using only the values of the input and output. The developed NARMA-L2 neural network model is tuned for its weights employing the backpropagation optimizer algorithm. Nonlinear autoregressive-moving average-L2 (NARMA-L2) neural network controller, based on the inputs and outputs from the nonlinear model, is designed to perform control action on the nonlinear for the attitude control of unmanned aerial vehicles (UAVs) model. Once the system has been modeled efficiently and accurately, the proposed controller is designed by rearranging the generalized submodels. The controller performance is evaluated by simulation conducted on a quadcopter MIMO system, which is characterized by a nonlinear and dynamic behavior. The obtained results show that the NARMA-L2-based neural network achieved good performances in modeling and control.

Keywords:

• Back propagation algorithm
• MIMO system
• MLP neural network
• NARMA-L2
• Quadcopter

Additional information

Notes on contributors

K. El Hamidi

Khadija El Hamidi pursued her PhD in electrical engineering at Cadi Ayyad University of Marrakech, Morocco, in 2020. She received her masters degree in electrical engineering from the Cadi Ayyad University of Marrakech, Morocco, in 2014. The main research interests include intelligence artificial control for nonlinear systems and their applications to robotics.

M. Mjahed

Mostafa Mjahed received his 3ème cycle Doctorate in HEP from the University of Clermont Ferrand, France, in 1987, and a PhD degree in control and artificial intelligence from the University of Cadi Ayyad, Marrakech, in 2003. In 1989, he joined the Ecole Royale de l’Air, Marrakech, Morocco, as an associate professor in the Department of Mathematics and Systems. From 2003, he has been a professor in the same Institute and Department. His current research interests are conventional and AI-based flight control, pattern recognition, and classification by GA, PSO,and NN. Email: [email protected]

A. El Kari

Abdeljalil El Kari received his PhD degree from University of Bordeaux, in 1993. In 1994, he joined Cadi Ayyad University, Faculty of Science and Technology, Marrakesh, Morocco, where he currently is a professor with the Department of Physics. In 2002, he obtained the PhD degree from Cadi Ayyad University and Reims Champagne-Ardenne University. He is a researcher member of the Electric Systems and Telecommunications Laboratory and responsible of electrical engineering master. His main areas of interest in research are automatic, robotics, control systems engineering and artificial intelligence. He has so far published over 20 papers in different journals and conferences. Email: [email protected]

H. Ayad

Hassan Ayad obtained his doctorate thesis in 1993 from University of Le Havre, France, and the PhD degree from Cadi Ayyad University in 2007. Since 1993, he is a professor at the Faculty of Science and Technology of Marrakesh, responsible of the Physical Department. He is a researcher member of the Electric Systems and Telecommunications Laboratory. He is the author of more than 20 articles, and more than 20 international communications. His research interests include artificial intelligence, automatic control, intelligent control, intelligent systems, mechatronics and robotics. Email: [email protected]

N. El Gmili

Nada El Gmili graduated from the Cadi Ayyad University and laureate of the ENSA Oujda, Morocco. She has previous experience of teaching at the FST Marrakesh, Morocco, from 2017 to 2020, and she became a professor at FST Mohammedia, Hassan II University, Casablanca, Morocco, since 2020. She has published, a good number of papers in journals (indexed in the international Thomson Reuters and Scopus databases) and conferences, most of which are related to robotics, automatics, embedded systems, and more specifically artificial intelligence applications to optimize the performance of complex unmanned aerial vehicles’ flight. Email: [email protected]