1Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Less
ons
Lear
ned
and
Flig
ht R
esul
tsfr
om th
eF-
15 In
telli
gent
Flig
ht C
ontr
ol S
yste
m P
roje
ct
John
Bos
wor
thPr
ojec
t Chi
ef E
ngin
eer
Febr
uary
200
6N
ASA
, Dry
den
Flig
ht R
esea
rch
Cen
ter
https://ntrs.nasa.gov/search.jsp?R=20060045871 2019-08-29T23:46:27+00:00Z
2Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Proj
ect P
artic
ipan
ts
•N
asa
Dry
den
Flig
ht R
esea
rch
Cen
ter
–R
espo
nsib
le te
st o
rgan
izat
ion
for t
he fl
ight
exp
erim
ent
•Fl
ight
, ran
ge a
nd g
roun
d sa
fety
•M
issi
on s
ucce
ss•
Nas
a A
mes
Res
earc
h C
ente
r–
Dev
elop
men
t of t
he c
once
pts
•B
oein
g ST
L Ph
anto
m W
orks
–P
rimar
y fli
ght c
ontro
l sys
tem
sof
twar
e (C
onve
ntio
nal m
ode)
–R
esea
rch
fligh
t con
trol s
yste
m s
oftw
are
(Enh
ance
d m
ode)
•In
stitu
te fo
r Sci
entif
ic R
esea
rch
–N
eura
l Net
wor
k ad
aptiv
e so
ftwar
e•
Aca
dem
ia–
Wes
t Virg
inia
Uni
vers
ity–
Geo
rgia
Tec
h–
Texa
s A
&M
3Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
F-15
IFC
S Pr
ojec
t Goa
ls
•D
emon
stra
te R
evol
utio
nary
Con
trol
App
roac
hes
that
can
Effic
ient
ly O
ptim
ize
Airc
raft
Perf
orm
ance
in b
oth
Nor
mal
and
Fai
lure
Con
ditio
ns
•A
dvan
ce N
eura
l Net
wor
k-B
ased
Flig
ht C
ontr
olTe
chno
logy
for N
ew A
eros
pace
Sys
tem
s D
esig
ns
4Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
4
Mot
ivat
ion
Thes
e ar
e su
rviv
able
acc
iden
ts
IFC
S ha
s po
tent
ial t
ore
duce
the
amou
nt o
fsk
ill a
nd lu
ck re
quire
dfo
r sur
viva
l
5Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
IFC
S A
ppro
ach
•Im
plem
ente
d on
NA
SA F
-15
#837
(SM
TD a
ndA
CTI
VE p
roje
cts)
•U
se E
xist
ing
Rev
ersi
onar
y R
esea
rch
Syst
em
•Li
mite
d Fl
ight
Env
elop
e
•Fa
ilure
s Si
mul
ated
by
Froz
en S
urfa
ce C
omm
and
(Sta
b) o
r Gai
n M
odifi
catio
n on
the
Ang
le o
f Atta
ckto
Can
ard
Feed
back
6Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eerPr
oduc
tion
desig
nP/
Y th
rust
vect
orin
g no
zzle
s
Can
ards
F100
-PW
-229
IPE
engi
nes w
ithID
EEC
s
Qua
d di
gita
l flig
ht c
ontr
olco
mpu
ters
with
res
earc
hpr
oces
sors
and
qua
ddi
gita
l ele
ctro
nic
thro
ttles
AR
TS II
com
pute
r fo
r hi
ghco
mpu
tatio
n re
sear
ch c
ontr
olla
ws
Elec
tron
ic a
irin
let
cont
rolle
rs
•No
mec
hani
cal o
ran
alog
bac
kup
•Dig
ital fl
y-by
-wir
eac
tuat
ors
•Fou
r hy
drau
licsy
stem
s
NA
SA F
-15
#837
Airc
raft
Des
crip
tion
7Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Flig
ht E
nvel
ope
For G
en 2
M
ach
< 0.
95
8Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Lim
ited
Aut
horit
y Sy
stem
•A
dapt
atio
n al
gorit
hmim
plem
ente
d in
sep
arat
epr
oces
sor
–C
lass
B s
oftw
are
–A
utoc
oded
dire
ctly
from
Sim
ulin
k bl
ock
diag
ram
–M
any
conf
igur
able
set
tings
•Le
arni
ng ra
tes
•W
eigh
t lim
its•
Thre
shol
ds, e
tc.
•C
ontr
ol la
ws
prog
ram
med
inC
lass
A, q
uad-
redu
ndan
tsy
stem
•Pr
otec
tion
prov
ided
by
float
ing
limite
r on
adap
tatio
nsi
gnal
s
Ada
ptiv
eA
lgor
ithm
Safe
tyLi
mits
Res
earc
h C
ontr
olle
r4
Cha
nnel
680
40
Sing
le C
hann
el 4
00 M
hz
Con
vent
iona
l Con
trol
ler
9Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Max
per
sist
ence
ctr
,do
wnm
ode
NN
Flo
atin
g Li
mite
r
Upp
er ra
nge
limit
(dow
n m
ode)
Low
er ra
nge
limit
(dow
n m
ode)
Floa
ting
limite
r
Rat
e lim
it dr
ift,
star
t per
sist
ence
coun
ter
Tuna
ble
met
rics
W
indo
w d
elta
D
rift r
ate
Pe
rsis
tenc
e lim
iter
R
ange
lim
its
Win
dow
siz
e
Sigm
a pi
cm
d (p
qr)
Bla
ck –
sig
ma
pi c
md
Gre
en –
floa
ting
limite
r bou
ndar
yO
rang
e –
limite
d co
mm
and
(fl_d
rift_
flag)
Red
– d
own
mod
e co
nditi
on (f
l_dm
ode_
flag
10Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Flig
ht E
xper
imen
t
•A
sses
s ha
ndlin
g qu
aliti
es o
f Gen
II c
ontr
olle
rw
ithou
t ada
ptat
ion
•A
ctiv
ate
adap
tatio
n an
d as
sess
cha
nges
inha
ndlin
g qu
aliti
es•
Intr
oduc
e si
mul
ated
failu
res
–C
ontr
ol s
urfa
ce lo
cked
(“B
mat
rix fa
ilure
”)–
Ang
le o
f atta
ck to
can
ard
feed
back
gai
n ch
ange
(“A
mat
rix fa
ilure
”)•
Re-
asse
ss h
andl
ing
qual
ities
with
sim
ulat
edfa
ilure
s an
d ad
apta
tion.
•R
epor
t on
“Rea
l Wor
ld”
expe
rienc
e w
ith a
neu
ral
netw
ork
base
d fli
ght c
ontr
ol s
yste
m
11Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Ada
ptat
ion
Goa
ls
•A
bilit
y to
sup
pres
s in
itial
tran
sien
t due
to fa
ilure
–Tr
ade-
off b
etw
een
high
lear
ning
rate
and
sta
bilit
y of
syst
em•
Abi
lity
to re
-est
ablis
h m
odel
follo
win
gpe
rfor
man
ce•
Abi
lity
to s
uppr
ess
cros
s co
uplin
g be
twee
n ax
es–
No
exis
ting
crite
ria
12Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Han
dlin
g Q
ualit
ies
Perf
orm
ance
Met
ric
•G
rey
Reg
ion:
–B
ased
on
mod
el-to
-be
-follo
wed
–M
axim
um n
otic
eabl
edy
nam
ics
(LO
ES)
13Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Proj
ect P
hase
s•
Fund
ed–
Gen
1 In
dire
ct a
dapt
ive
syst
em•
Iden
tify
chan
ges
to “
plan
t”•
Ada
pt c
ontr
ols
base
d on
cha
nges
•LQ
R m
odel
bas
ed c
ontr
olle
r (on
line
Ric
atti
solv
er)
–G
en 2
Dire
ct a
dapt
ive
•Fe
edba
ck e
rror
driv
es a
dapt
atio
n ch
ange
s•
Dyn
amic
inve
rsio
n ba
sed
cont
rolle
r with
exp
licit
mod
el fo
llow
ing
•Fu
ture
Pot
entia
l–
Gen
2+
Diff
eren
t Neu
ral N
etw
ork
appr
oach
es•
Sing
le h
idde
n la
yer,
radi
al b
asis
, etc
–G
en 3
ada
ptiv
e m
ixer
and
ada
ptiv
e cr
itic
14Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Gen
erat
ion
1
Indi
rect
Ada
ptiv
e Sy
stem
15Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Indi
rect
Ada
ptiv
e C
ontr
ol A
rchi
tect
ure Pr
etra
ined
N
eura
l N
etw
ork
SCE-
3SC
SI
Sens
ors
Con
trol
Com
man
ds
Pilo
tIn
puts
PTN
ND
eriv
ativ
es
DC
SD
eriv
ativ
esDC
SN
eura
lN
etw
ork
PID
Der
ivat
ive
Estim
atio
n
Der
ivat
ive
Estim
ates
Der
ivat
ive
Erro
rs
+
AR
TS II
Ope
nLo
opLe
arni
ng
Clo
sed
Loop
Lear
ning
Der
ivat
ive
Bia
s
++
16Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Indi
rect
Ada
ptiv
eEx
perie
nce
and
Less
ons
Lear
ned
•Sy
stem
flow
n in
200
3 –
Ope
n lo
op o
nly
•G
ain
calc
ulat
ion
sens
itive
to id
entif
ied
deriv
ativ
es–
Unc
erta
inty
in e
stim
ated
der
ivat
ive
too
high
•D
iffic
ult t
o es
timat
e de
rivat
ives
from
pilo
t exc
itatio
n–
Nor
mal
ly c
orre
late
d su
rfac
es–
Bet
ter e
stim
atio
n av
aila
ble
with
forc
ed e
xcita
tion
•M
any
deriv
ativ
es re
quire
d fo
r ful
l pla
nt e
stim
atio
n H
owev
er m
ore
are
requ
ired
whe
n La
tDir
coup
les
with
Lon
g•
No
imm
edia
te a
dapt
atio
n w
ith fa
ilure
–R
equi
res
perio
d of
tim
e be
fore
new
pla
nt c
an b
e id
entif
ied
•In
dire
ct a
dapt
ive
mig
ht b
e m
ore
suite
d fo
r cle
aran
ce o
f new
vehi
cles
rath
er th
an fa
ilure
ada
ptat
ion
17Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Gen
erat
ion
2
Dire
ct A
dapt
ive
Syst
em
18Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
pilo
tin
puts
Sens
ors
Mod
elFo
llow
ing
Con
trol
Allo
catio
n
Res
earc
h C
ontro
ller
-
Dire
ct A
dapt
ive
Neu
ral N
etw
ork
+
Gen
II D
irect
Ada
ptiv
e C
ontr
ol A
rchi
tect
ure
(Ada
ptiv
e)
Feed
back
Erro
r
19Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Cur
rent
Sta
tus
•G
en 2
–C
urre
ntly
in fl
ight
test
pha
se–
Sim
plifi
ed S
igm
a-Pi
neu
ral n
etw
ork
•N
o hi
gher
ord
er te
rms
•Li
mits
on
Wei
ghts
Qdo
t_c
= Q
_err
*Kpq
*[1
– W
1 –
W2]
+
Q_e
rr_i
nt*K
iq*[
1 - W
1 –
W3]
+ Q
_err
_dot
*Kqd
*[1
– W
1]
20Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Effe
ct o
f Can
ard
Mul
tiplie
r
A/C
Pla
nt
AoA
Can
ardA
ppar
ent P
lant
Con
trol
Sys
tem
Sym
. Sta
b
Can
.M
ult.
21Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Sim
ulat
ed C
anar
d Fa
ilure
Stab
Ope
n Lo
op
22Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Can
ard
Mul
tiplie
r Effe
ctC
lose
d Lo
op F
req.
Res
p.
23Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Sim
ulat
ed C
anar
d Fa
ilure
Stab
Ope
n Lo
op w
ith A
dapt
atio
n
24Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Can
ard
Mul
tiplie
r Effe
ctC
lose
d Lo
op w
ith A
dapt
atio
n
25Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
-0.5
can
ard
mul
tiplie
r at f
light
con
ditio
n 1;
with
& w
ithou
t neu
ral n
etw
orks
26Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
010
20
30
40
50
60
70
80
90
100
-1
-0.50
0.51
Roll Axis
NN
Weig
hts
(norm
aliz
ed)
-0.5
canard
: basic
maneuve
ring c
ard
010
20
30
40
50
60
70
80
90
100
-1
-0.50
0.51
Pitch Axis
010
20
30
40
50
60
70
80
90
100
-1
-0.50
0.51
Yaw Axis
Gen
2 N
N W
ts fr
om S
imul
atio
n
27Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Dire
ct A
dapt
ive
Expe
rienc
e an
d Le
sson
s Le
arne
d
•In
itial
sim
ulat
ion
mod
el h
ad h
igh
band
wid
th–
Maj
ority
of s
yste
m p
erfo
rman
ce a
chie
ved
by th
e dy
nam
ic in
vers
ion
cont
rolle
r–
Dire
ct a
dapt
ive
NN
pla
yed
min
or ro
le•
Dyn
amic
Inve
rsio
n ga
ins
redu
ced
to m
eet A
SE a
ttenu
atio
nre
quire
men
ts–
Muc
h ha
rder
to a
chie
ve d
esire
d pe
rfor
man
ce–
NN
con
trib
utio
n in
crea
sed
•In
itial
per
form
ance
obj
ectiv
e em
phas
ized
tran
sien
t red
uctio
nan
d ac
hiev
ing
mod
el fo
llow
ing
afte
r fai
lure
–Pi
lote
d si
mul
atio
n re
sults
sho
wed
that
redu
cing
cro
ss c
oupl
ing
was
mor
e im
port
ant o
bjec
tive
•Ex
plic
it cr
oss
term
s in
NN
requ
ired
for f
ailu
re c
ases
–R
elyi
ng o
n di
stur
banc
e re
ject
ion
alon
e do
esn’
t wor
k (a
lso
findi
ng o
fG
en 1
)
28Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Dire
ct A
dapt
ive
Expe
rienc
e an
d Le
sson
s Le
arne
d
•Li
apun
ov p
roof
of b
ound
ed s
tabi
lity
–N
eces
sary
but
not
suf
ficie
nt p
roof
of s
tabi
lity
–M
any
case
s of
lim
it cy
cle
beha
vior
obs
erve
d–
Oth
er a
naly
tic m
etho
ds re
quire
d fo
r ens
urin
g gl
obal
sta
bilit
y•
Dyn
amic
Inve
rsio
n co
ntro
ller c
ontr
ibut
es s
igni
fican
tly to
cro
ssco
uple
d re
spon
se in
pre
senc
e of
sur
face
failu
re (l
ocke
d)–
Red
esig
ned
yaw
loop
usi
ng c
lass
ical
tech
niqu
es•
NN
’s re
quire
car
eful
sel
ectio
n of
inpu
ts–
Pres
ence
of t
rans
ient
err
ors
“nor
mal
” fo
r abr
upt i
nput
s in
non
-ad
aptiv
e sy
stem
s–
Exis
tenc
e of
tran
sien
t err
ors
tend
to d
rive
NN
’s to
“hi
gh g
ain”
tryi
ngto
ach
ieve
impo
ssib
le•
Sign
ifica
nt a
mou
nt o
f “tu
ning
” re
quire
d fo
r to
achi
eve
robu
st fu
llen
velo
pe p
erfo
rman
ce–
Con
trad
icts
cla
im o
f rob
ustn
ess
to u
nfor
esee
n fa
ilure
s–
Pilo
ted
nonl
inea
r sim
ulat
ion
requ
ired
29Jo
hn T
. Bos
wor
th –
Pro
ject
Chi
ef E
ngin
eer
Con
clus
ions
•A
dapt
ive
cont
rols
sta
tus
–C
urre
ntly
col
lect
ing
“rea
l wor
ld”
fligh
t exp
erie
nce
–In
tera
ctio
ns w
ith s
truc
ture
big
gest
cha
lleng
e–
Frui
tful a
rea
for f
utur
e re
sear
ch•
F-15
IFC
S pr
ojec
t is
prov
idin
g va
luab
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