A novel system identification algorithm for quad tilt-rotor based on neural network with foraging strategy

Abstract

Quad tilt-rotor(QTR) UAV is a nonlinear time-varying system in full flight mode. It is difficult and inaccurate to model the nonlinear time-varying system, which cannot fully reflect the problem of controlling input and system response output in the full flight mode. In order to solve the above problems, a novel neural network model was adopt to identify the nonlinear time-varying system of quad tilt-rotor in full flight mode. An adaptive learning rate algorithm based on foraging strategy is proposed based on the global error BP neural network. Corresponding to the nonlinear time-varying system, BP neural network is set as the time-invariant system structure with constant network structure and continuously changing weights at multiple times, and the nonlinear input-output relationship under the time-varying system is jointly described by fitting the network at all times. The extended Kalman filtering algorithm is used to track the network connection weights by modifying the network weights at the current moment with the input and output data at the next moment. The final identification result shows that the smaller mean square error of both only transition process and full flight mode, shows that using this optimization algorithm can well describe the input and output characteristics of the nonlinear time-varying systems. When the same network structure is adopted, no matter for transition mode or full mode, the BP optimization algorithm based on foraging strategy is better than the global BP algorithm for system identification of the full mode quad tilt-rotor. Therefore, when the BP neural network based on foraging strategy is adopted, the same network structure can be adopted to systematically identify the full mode of quad tilt-rotor by changing the weight.