Robust adaptive tracking control design for uncertain missile systems using a cerebellar model articulation controller

• Main Author: 陳世璋
• Other Authors: 曾仲熙
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/41836162850162396524

碩士 === 明新科技大學 === 電機工程研究所 === 95 === A robust adaptive tracking control design for missile systems with unknown (or uncertain) parameters and external disturbance is proposed in this study, based on cerebellar model articulation controller （CMAC）technique. The CMAC control system is introduced to learn the uncertainties by an adaptive algorithm; that is, the CMAC control system is used to compensate for the plant uncertainties. The CMAC control system is used to adaptively estimate the non-linear uncertainties, yielding a controller that can tolerate a wider range of uncertainties. An adaptive CMAC control is equipped with an optimal robust to achieve the desired tracking performance for uncertain missile systems with external disturbance. The design procedure is divided into two steps. First, a CMAC adaptive feedback linearization control scheme is designed to achieve the tracking of unknown (or uncertain) missile systems. Next, a combined optimal robust control scheme is employed to minimize the worst-case effect arising from adaptive CMAC approximation error and external disturbance to improve the tracking performance of missile. A simulation example of the proposed robust CMAC adaptive tracking control for unknown (or uncertain) bank-to-turn (BTT) missile system is presented to illustrate the tracking performance of the proposed design method. Keywords：cerebellar model articulation controller （CMAC），optimal robust control，bank-to-turn (BTT) missile system