Neuroadaptive model following controller design for a nonaffine UAV model

This paper proposes a new model-following adaptive control design technique for nonlinear systems that are nonaffine in control. The adaptive controller uses online neural networks that guarantee tracking in the presence of unmodeled dynamics and/or parameter uncertainties present in the system model through an online control adaptation procedure. The controller design is carried out in two steps: (i) synthesis of a set of neural networks which capture the unmodeled (neglected) dynamics or model uncertainties due to parametric variations and (ii) synthesis of a controller that drives the state of the actual plant to that of a reference model. This method is tested using a three degree of freedom model of a UAV. Numerical results which demonstrate these features and clearly bring out the potential of the proposed approach are presented in this paper