期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：2
页码：121
DOI：10.5772/53746
语种：English
出版社：SAGE Publications
摘要：A novel intelligent control strategy based on a brain emotional learning (BEL) algorithm is investigated in the application of the attitude control of a small unmanned aerial vehicle (UAV) in this study. The BEL model imitates the emotional learning process in the amygdala-orbitofrontal (A-O) system of mammalian brains. Here it is used to develop the flight control system of the UAV. The control laws of elevator, aileron and rudder manipulators adopt the forms of traditional flight control laws, and three BEL models are used in above three control loops, to on-line regulate the control gains of each controller. Obviously, a BEL intelligent control system is self-learning and self-adaptive, which is important for UAVs when flight conditions change, while traditional flight control systems remain unchanged after design. In simulation, the UAV is on a flat flight and suddenly a wind disturbs it making it depart from the equilibrium state. In order to make the UAV recover to the original equilibrium state, the BEL intelligent control system is adopted. The simulation results illustrate that the BEL-based intelligent flight control system has characteristics of better adaptability and stronger robustness, when compared with the traditional flight control system.
关键词：Brain Emotional Learning; Unmanned Aerial Vehicle; Flight Control
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