Abstract
AbstractThis paper presents an intelligent adaptive trajectory tracking controller using fuzzy basis function networks (FBFN) for an autonomous small‐scale helicopter. The FNFN is used online to learn the vehicle mass and the coupling effect between the force and the moments, and the intelligent adaptive controller then is synthesized systematically using a backstepping technique. This controller is designed to accomplish the ultimate boundedness of the closed‐loop helicopter dynamics and accommodate agile flight maneuvers. Two nonlinear simulations on hovering and trajectory tracking are conducted to show the effectiveness and merit of the proposed controller, which is also shown to be superior by performance comparison with a well‐known neural‐network controller.
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