적응 함수근사화를 이용한 무인항공기의 개선제어

In this paper, an innovative approach to retrofit an existing baseline controller with adaptive function approximator is presented. The structure of approximator is composed of a linear combination for parameter and basis function. While the previous researches are mainly based on the function approximator using neural network, this paper presents the method to use the chebyshev polynomial as basis function and the parameter update law derived via Lyapunov analysis method. The benefits of this method are that the computational load is very low and also the structure of approximator is very simple in comparison to neural network method. since the complexity of flight control software bring about the reduction of reliability, this method is valuable in the face of the improvement of reliability. From simulation results, we know that the preposed method is very effective in the presence of aerodynamic uncertainties.