| Summary: | 博士 === 元智大學 === 電機工程學系 === 100 === This dissertation presents intelligent controllers for two flight control systems. One is a vertical take-off and landing flight aircraft system, the other is a twin rotor multi-input multi-output aircraft system (TRMS). A robust proportional-derivative (PD) based cerebellar model articulation controller (CMAC) is developed for speed control of a vertical take-off and landing flight control system. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. The effectiveness of the proposed algorithm is validated through the application of a vertical takeoff and landing aircraft control system.
For the twin rotor multi-input multi-output system, three kinds of controllers are investigated. One is the traditional PID controller, another is a PID fuzzy controller, and the other is a robust PD CMAC. The traditional PID controller can achieve basic position control objectives. The PID fuzzy controller, with the advantages of fuzzy control, can reduce the steady state error. The robust PD CMAC not only reduces the steady state error, retains the good transient response but also guarantees the stability of the whole TRMS with external disturbances. Simulation results and experimental results demonstrate the effectiveness of the proposed robust PD CMAC for position control of the TRMS.
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