关键词: 小型无人直升机, 神经网络, 反步自适应控制, 鲁棒

Abstract: The small unmanned helicopter is a highly nonlinear system with significantly dynamic coupling and uncertainty parameters. This paper presents an adaptive back-stepping control method based on CMAC（Cerebellar Model Articulation Control）. The proposed method uses CMAC to learn the system uncertainty online and derivative information of virtual controllers in each stage of back-stepping control. In order to reduce the system uncertainty of CMAC, a robust controller is presented and the control law is derived via recursive regression of back-stepping method. The simulation results demonstrate that, with the parameter uncertainty and error of the model, the proposed control law has the excellent attitude tracking performance and robustness.

Key words: small-scale unmanned helicopter, neural network, back-stepping adaptation control, robust