关键词: 无人直升机, 姿态控制系统, 神经网络, 模型逆, 自适应控制

Abstract: The neural network adaptive attitude control system is designed based on model reference adaptive control theory and combination of online neural network with augmented model inversion. Then feedback linearization and model inversion theories are described, model tracking error dynamics is analyzed and the neural network controller and the online learn laws are designed. Finally, the attitude control system of pitch channel with neural network is designed and simulated as an example. The results show that this neural network control system adapts to model inversion error originated from model and parameter uncertainties, and that the responses are still satisfactory in case of the presence of sensor output white noise.

Key words: unmanned helicopter, attitude control system, neural network, model inversion, adaptive control