Proceedings of the Second International Conference on Machine Learning and Cybernetics, Wan, 2-5 November 2003
HYBRID CONTROL OF LOAD SIMULATOR FOR UNMANNED AERIAL
VEHICLE BASED ON WAVELET NETWORKS
ZHAO-HUI YUAN, JIAN-DE WU, JIONGHUA TENG
Department of Automatic Control, Northwestem Polytecbnical University, Xi’an 7 10072,China
E-MAIL:Ayuanzhh@nwpu.edu.cn
Abstract:
How to eliminate the surplus torque ofa loading system is
m e of the key problems to design a load simulator. Based on
the learning characteristic of neural network and the function
approximation ability of the wavelet, a hybrid control based
on wavelet networks was proposed. The application results
in the unmanned aerial vehicle load simulator show that the
proposed controller can effectively eliminate the surplus
torque and fairly improve the dynamic loading performances
ofthe loading simulator. In addition, the results show that the
proposed controller belongs to the fine robustness for
unknown exteroal loading disturbances.
Key words:
Load simulator: Wavelet networks; Surplus torque;
Unmanned aerial vehicle; Robustness
1. Introduction
The unmanned aerial vehicle load simulator is an
electric servo loading system, which runs important roles in
hardware-in-the-loop simulation of aerial vehicle on the
ground. The load simulator is used to produce load similar
to the real airflows. It makes the manipulative system work
similar to the real circumstance. Because the loaded object
moves with the loading system, the surplus torque, which is
result from the loaded object motion and parameters variety,
leads to the larger system error and less robustness. In load
simulator, surplus torque is defined as output error with the
loaded object motion while the reference input of system
equals zero. In the servo machine of unmanned aerial
vehicle, the load simulator is applied to loading on
rubber and track the motion of unmanned aerial vehicle
simultaneously. The motion is the disturbance of the
loading system. The errors with the disturbance are serious
generally without any restraint. So the restraint of surplus
torque is a key problem that must be solved in the load
simulator.
In order to decrease the surplus torque, the popular
way in recent years is to design a constant compensator
according to the constant sbucture theory, but the effect of
0-7803-7865-2/03/$17.00 02003 IEEE
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reducing the surplus torque is finite because of the system’s
non-linearity and variation of parameters. Moreover, other
ways such as the multiplayer forward neural network which
decreases the effect of indetermination and disturbance
through system identification and the controls are restricted
because of slow speed of study and relations between
results of study and list entries of training data.
Wavelet networks are one kind of local
base-function networks. Wavelet networks have the
non-linearity learning ability because base-function has
adjustable distinguishable resolutions. Furthermore,
wavelet base-function is compactly supported and nerve
cells influence little each other. It leads to wavelet networks
having quick learning speed. Based on the wavelet
transform, the localization in time-frequency of wavelet
decomposition and multiresolution function, a hybrid
control based on wavelet networks was proposed. Control
system will be realized through building networks. The
simulation results show that this method is effective and
feasible.
2. Description of torque load simulator
2.1 Composition of system
The schematic of load simulator is predigested as
a h o m in Fk.1
-
“ental feedbaek
Figure I Block diagram of system
2.2 Mathematical model
Based on the schematic and the actuator’s equations of
the loading system, the corresponding mathematical model
of the system can be obtained.
 Proceedings of the Second International Conference on Machine Learning and Cybernetics, Xi'an, 2-5 November 2003
where
O(S)=J,L,S' +(J,R+B,L).s' +(B,R+LG, +K,K,).s+G,R
N ( s ) = J , L . s 2 + ( J , R + B, L ) ' s + ( B m R+ K , K , )
K , =K,K,
Where T, is torque of load simulator, 8, is angular
displacement of rubber; G, is stiffness ckfficient of torque
sensor; B . is viscous friction coefficient; J. is armature
rotary inertia; R is resistance of armature loop; L is
inductance equivalent with armature loop; K , is
proportional coefficient, and K, is rotary constant of
electromotor.
From (I), it is shown that the disturbance of surplus
torque is not only relation to the velocity of the rubber's
motion, but also the acceleration and the time rate of
change of acceleration. Moreover the latter disturbances
enlarge shaqdy with the enlargement of magnitude and
frequency of rubber's motion. So, in order to improve the
property of the load simulator, all parts of the disturbance
are compensated simultaneously. If constant structure
theory is used to design constant compensation networks to
decrease the surplus torque, the robustness is miserable
when the adherent stiffness is massive. In the other band, it
is difficult to measure the acceleration and the time rate of
change of acceleration directly, and carry into effect
differential calculation in physics. Consequently, a new
way must be discovered to compensate disturbance.
3. Wavelet Networks
3.1 Wavelet series and wavelet networks
Wavelet series is series sum of function ~ ~ , ~ (
pjh(x)= 2j'2p(2jx - k ) , j , k E Z , which is used to
denote a given function. Function p j S k ( x )comes from R
wavelet p(X) bilging and integer +slation. Function
p(x) is self-dual if p ( x ) is an orthonormal wavelet,
and an orthonomal basis of L ~ ( R ) is composed of
{ p j h ( x ) ). So, any function f ( x ) e L 2 ( R ) can be
written as a unique linear combination of orthogonal
wavelet series. However, boundless series summation is
meaningless and unnecessary in actual system. So given
function is represented approximately by parts of series
Sum.
716
N
f ( x )e Ef
Cwj,t~j,h(~),v L2(R)
(,f(~) (2)
j,k=-N
In this paper, the wavelet is made of higher
dimensions wavelet functions which are constructed with
Lxz
Morlet wavelet p(x) , where ~ ( x =) -xe . The
wavelet approximant is expressed as follows
k
,?(XI . " ' . X I 1= nvcxt, (3)
iil
The following formula will be obtained from (2).
Then a networks based on wavelet functions are
constructed to approximate functions of L 2 ( R ) .
f ( x )D i & p [ 2 ] Vf(x) E E(R) (4)
iil Si
Smaller s is, that is, the frequency is higher, more
accurate time is. Larger s is, that is, the frequency is
smaller, more accurate frequency is. It is difficult to
approximate the given functions with choosing flexible
factor si and shift factor ti inadequately.
3.2 Initialization of wavelet networks Coefficient
The given output maximum of single-variable system
is deiined as f,,, and the given output minimum of
system single-variable system is defined as f,, . The first
divisive value f, is a point between f,, and f , ,
wherer, = f ,, + 5 ( f, - f m i ) . sI is defined as systole
of interval accordingly, where s,=$ ( f,, - fmi. ) and
the value of 5 is 0.5 commonly. Then the interval
[ fmi, ,f
, ] is divided into two intervals; the second
division is carried out with iterative steps and the
parameters are chosen, such as s2 , f2 , s3, f3 etc. And so
x ) ,
on, all wavelet cells are initiated eventually. In this wise,
there are N wavelet cells to be used in variable and N
weight coefficients to be leamed, Where, N = Z 0 + 2 I f -
+ 2m-' and m is frequency of interval division.
Each variable is processed and combined in
multivariable system. However, it leads to wavelet
networks complicatedly because the number of wavelet
cells increases with variable dimension to the power. A
combined way, which makes the number of wavelet cells
decrease, is as follows.
The variables are considered for two dimensions to
depict conveniently. Numerical ranges assumed of system
variables in two components are [ Lmjn, A.,= 1, where
i =1, 2. Four combinations of shift factors are derived by
 Proceedings of the Second International Conference on Machine Leaning and Cybernetics, xi",2-5 November 2003

two times of dividing variables: [ f,,, ,t2,,1, [ rl,2,t2,,] ,
[ f , , , . t , , , ] . [ f l , 2 , t 2 , 2The
] . function span is covered with
combinations of every dimension by the way that is used to
choose flexible factors and shift factors, and approximation
effect is guaranteed.
4. Control system based on wavelet networks
A hybrid control based on wavelet networks is shown
in Fig.2; where J is instruction signal of system; e is
control error;^ is input signal, and y is output signal
that is surplus torque. It has shown that the hybrid
controller is composed of constant compensation, wavelet
networks identifier m, and wavelet networks controller
(WNC). The steps of design are as follows:
Design G,(s) based on (I) to restrain surplus torque;
Design WNI as reference model to implement
dynamic identification of plant;
Design WNC to produce non-linear mapping of
necessarily to restrain surplus torque better,
4.2 Wavelet networks identifier (WNI)
Suppose a non-linear system is given by N A M
form:
J.(x)=fcV(k-l);~~,J.(~-n,),4k-1);.~,4k-n,)), (5)
where f(.) is an unknown continuous non-linear
function, u(k) and y ( k ) are respectively input and
output vectors of system in k hour, and k is a
discrete-time variable, k =0,1;-. The dynamic property
shown in ( 5 ) can derive from non-linear mapping of
wavelet networks input and output. The known input and
measured value of output are regard as leaming samples.
The errors between wavelet network output and expected
output will change into minimum through training network
parameters. The model of wavelet networks bas been
created and the dynamic system has been identified when
the learning is complete.
- h

implementing control and compensate surplus torque

further.
Moreover, in order to improve dynamic propetty of
system and tracking properly, the system is composed of a
closed loop feedback to guarantee stability of system.
Figure 3 The structure of the wavelet network
identifier

--
Let input vector be given by
x = [x,,x,;
- T
..X"]
U
Figure 2 Control system based on wavelet networks = Iv(k - 1);. .y(k-n,),u(k- 1);. .u(k -na)], (6)
(n = ny +nu),
4.1 Constant compensator G,(s) Fig.3 shows the structure of WNI which is obtained
from dividing every component m times, where
/ = ~ n ( z " - ' - I ) + I . The i th wavelet cell input is
Constant compensator is designed according to model
of opening loop system. So, h-ansfer function of
I - -
z, = [ Z ~ , , , Z,... ~ , Fj,"Ir,
~ output is ci
, and corresponding
compensator is derived through deducing equality. While weight value is G, . In this case, output of wavelet
the motion of electric engine is defined as disturbance,
networks is y" . Then relational expressions of WNI are
output of constant compensator is T, if the
K,K, given as follows:
surplus torque of system is desired equaling zero that is [ ~ ( -k l ) - b llK.,j
T, = O . So, the compensation annulus is depicted as

=c,(s).Considering implement in physics, three

ce(s) (7)
K,K,
poles are assigned or exponent of numerator is decreased.
Consequently, surplus torque is compensated partly by
constant compensator. A hybrid controller is designed

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 Proceedings of the Second International Conference on Machine Learning and Cybernetics, Wan, 2-5 November 2003
(9)
The error e"(k) between output y"(k) and
expected output y ( k ) is defined as z ( k ) = y"(k)- y ( k ),
while WNI works with input. Evaluation function is
defined as follows:
- 1 1 The partial derivative algorithm of J ( k ) is given
J ( k ) =,[y(k)-y(k)12 =-2(k)
2
(10)
The partial derivative algorithm of ?(k) is given
According to gradient algorithm, the parameters of
WNI must adjust when every sample is leamed. But, some
constraints of parameter $,i is noticed during adjusting
parameters for the purpose of guaranteeing the wavelet
networks property of approximate. The constrains are given
bY
Where FI and 4are small positive constants. The
speed of leaming must be changed, if constrains are not
established hy further adjustments, and it is guaranteed that
the parameters is satisfied with constrains mentioned above,
after adjusting.
4.3 Wavelet networks controller (WNC)
The shctnre of WNC is similar to that shown in Fig.2.
The error e(k) between system output y ( k ) and expected
output jJ(k) is defined as e(k) = jJ(k) - y ( k ) . Let input
vector of WNC be given by
x = [e(k),e(k- l),.' .,e@ - n y ) , y ] r , (16)
There are 2(n, + 2)(2m+' - 1) + 1 wavelet cells in
WNC through dividing every component m times.. The
i th wavelet cell input is
2, = t~,.lJ,,Z.. ".~,,z(",+z)(z"-'~l)+l I r , output is g, , and
718
corresponding weight value is m i . In this case, output of
wavelet networks is U , Then relational expressions of
WNC similar to WNI are given.
Vector e(k) is defined as errors between system
output y ( k ) and expected output L ( k ) , where
-
e ( k ) = y"(k)-y(k) , while the system is controlled by
WNC. Evaluation function is defmed as follows:
1 I
J ( k ) = - [ y ( k ) - 7(k)]2 = - e 2 ( k ) (17)
2 2
bv
Likewise, some constraints of parameter $,j is
noticed' during using gradient algorithm to adjust
parameters.
5. Simulation
The plant is the load simulator shown in Fig.]. The
system is an dual-input single-output system. According to
the theory mentioned above, input vectors x" are given by
surplus torque and input signals in k - 1 hour, where
x"=[y(k-l),u(k-l)]r, n = 2 and m = 2 , and the
number of wavelet cells is 5. The error a(k) is regarded
as adjusting value. While Z ( k ) < & , E is a small
positive constant, and training is stopped. The system is
identified by WNI. In WNC input vectors is given by
x = [e(k),e(k- l),ji(k),b(k)]. According to the definition of
surplus torque, system output is surplus torque while
y ( k ) = 0 . So system dimension is 3 actually and numher of
wavelet cells is 7. While e(k) 5 6 , 5 is a small
positive constant, and training is stopped. At present, the
surplus torque is restrained greatly. When the initial value
of weight is Zj , Zj =O is during training wavelet
networks.
 Proceedings of the Second International Conference on Machine Learning and Cybernetics, Wan, 2-5 November 2003

20,
6. Conclusion

It is ordinary that dynamic loading perfmances of

02 04 06
Tl.C<.)
Figure 4 Surplus torque while the frequency of
disturbance is lOHz
-2 '
0 02 04 00
Tlne(a)
Figure 5 Surplustorque after using wavelet networks
control.
ll'EIiOrn.
Figure 6 Variant curve of training error
Surplus torque is shown in Fig.4 while dis!mbance
e = 3.5sin(62.8t)rod/s. It is shown that the magnitude of
surplus torque is about 15". The surplus torque is very
greatly, which effects property of system seriously. Using
a hybrid wavelet networks control, surplus torque is shown
in Fig.5 while- disturbance 8 = 3.5sin(62.8f)rad / s
nevertheless and surplus torque is restrained greatly. Fig.6
depicts the learning error curve. It is obvious that the goal
of networks is achieved when training step is 714th, that is,
surplus torque is restrained completely.
the load simulator are miserable due to the surplus torque.
Based on the learning characteristic of neural network and
08
J
1
the function approximation ability of the wavelet, a hybrid
control based on wavelet networks is proposed according to
the characteristics of the unmanned aerial vehicle load
simulator. The way is used successfully in the unmanned
aerial vehicle load simulator, and it is indicated that the
way is a feasible method. Moreover, the wavelet network
learning speed is fast and the proposed controller can
effectively eliminate the surplus torque and fairly improve
the dynamic loading performances of the load simulator. It
is greatly effective to design other load simulators.
08
I
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