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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2005, Vol. 26 ›› Issue (6): 670-674.

• 论文 • Previous Articles     Next Articles

Design of Attitude Control System Based on Neural Network to Unmanned Helicopter

WANG Hui, XU Jin-fa, GAO Zheng   

  1. National Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2004-07-07 Revised:2005-01-10 Online:2005-12-25 Published:2005-12-25

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

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