Motion control for unmanned aircraft vehicle based on self-structuring recurrent fuzzy neural network
基于自结构动态递归模糊神经网络的无人机姿态控制*

This paper designed motion control system of micro aircraft vehicle based on self-organizing dynamic recurrent fuzzy neural network, and proved the stability of the motion control system based on Lyapunov function. It proposed a new self-organizing dynamic recurrent fuzzy neural network based on the fuzzy neural networks with four layers, the weights and nodes of the proposed network could be updated online for network structure optimization. Simulation results demonstrate that the proposed control scheme can effectively improve stability and tracking performance with strong uncertainty, nonlinear and extern disturbance. Compared with fixed structured fuzzy neural network, the proposed self-organizing dynamic recurrent fuzzy neural network has advantages in estimation speed.