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Research on Autonomous Flight Control of UAV Using Neural Network and Dynamic Inversion

Author: YinYanQing
Tutor: XuJinFa
School: Nanjing University of Aeronautics and Astronautics
Course: Aircraft design
Keywords: UAV flight control autonomous control dynamic system neural network
CLC: TP183
Type: Master's thesis
Year: 2011
Downloads: 95
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Abstract


Nowadays, the UAV plays a more and more important role in modern wars. Because of its high maneuverability, zero death and low cost, countries all around the world put much effort into studying it. As the application of UAV in the civil fields is becoming more and more broad, people pays more attention to its flight performance. So it is urgent to achieve the autonomous flight. The development of the computer and information technology, artificial intelligence and autonomous control technology promote the further studying on the UAV’s autonomous flight control system.The main content of this paper is to design the UAV’s autonomous flight control system, according to the UAV’s control requirements. First, the history and development of the UAV is introduced, and the development tendency of the UAV’s autonomous flight control system is analyzed as well. Then, the traditional control methods are described. Based on their disadvantages in the studying of the UAV’s autonomous flight control system, the advanced control methods are proposed, such as the dynamical inversion flight control method. Using this method, the basic structure of the UAV’s autonomous flight control system is conducted, from the respects of the inner-loop and the outer-loop. According to this structure, the inner-loop attitude control system and the trajectory control system are designed respectively. Error compensation system based on Neural Network is developed according to the characteristics of model tracking error. Besides, online learning algorithm of the Neural Network is given. Finally, implementing the VS programming language, the UAV’s autonomous flight control and simulation software is developed. Within the simulation environment, the correctness and rationality is validated, and the simulation experiment of typical flight task is performed reference to the flight quality standard. The simulation result shows that the control system designed in the paper has high control accuracy as well as adaptability,and can meet the requirements of the autonomous flight well.

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