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�������պ����ѧѧ�� 2009, Vol. 35 Issue (11) :1361-1365    DOI:
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1. �������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100191;
2. �ɶ��ɻ�����о���, �ɶ� 610041
CMAC neural network for the rudder dynamic load simulator of unmanned aerial vehicles
Yang Bo1, Wang Junkui2*
1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. Chengdu Aircraft Design & Research Institute, Chengdu 610041, China

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Abstract�� In order to solve the nonlinearity and the surplus torque disturbance in the rudder load simulator of the unmanned aerial vehicles, a hybrid controller was proposed with the cerebellar model articulation controller(CMAC) network and the traditional proportional-derivative(PD) controller. The CMAC can simulate the nonlinear continuous function with high approximation and high speed learning rate which is suitable for the real time control of nonlinear systems. In the hybrid controller, the CMAC performed the feed forward control and the PD controller realized the feedback control to ensure the accuracy in process of the control. The instability of hybrid controller was discussed and analyzed, the application of credit-assigned and adaptive learning rate CMAC hybrid controller was researched and a simple one-input and one-output CMAC hybrid control method was proposed. The simulation results show the method has settled the unstable problem of the hybrid controller and effectively improved the system dynamics with high robustness.
Keywords�� rudder load simulator   surplus torque   cerebellar model articulation controller   proportional-derivative(PD) controller     
Received 2008-10-22;
About author: �� ��(1972-),Ů,�Ĵ��㰲��,������,boyang@buaa.edu.cn.
�� ��, ������.���˻����渺��ģ��ϵͳ��С��ģ�Ϳ���[J]  �������պ����ѧѧ��, 2009,V35(11): 1361-1365
Yang Bo, Wang Junkui.CMAC neural network for the rudder dynamic load simulator of unmanned aerial vehicles[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(11): 1361-1365
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2009/V35/I11/1361
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