This paper presents a robust proportional-derivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. It is known that PD control is a simple and effective control method. However, it does not ensure the robustness if it is used alone for uncertain systems. CMAC can be used for robust control. However, it requires training patterns for tuning some weighting factors. A novel CMAC incorporating with a PD controller design is proposed in this paper. Successful on-line training and recalling process of CMAC accompanying the PD controller was developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. Even when the PD controller is not designed well, the CMAC is capable of doing a robust tracking control through on-line recalling and training procedures.
