Model predictive neural control of a high fidelity helicopter model

Alexander Bogdanov,Er Bogdanov,Eric A Wan,Magnus Carlsson,Yinglong Zhang,Richard Kieburtz,Antonio M Baptista

Collection of Technical Papers. AIAA Guidance, Navigation and Control Conference（2001）

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摘要

Abstract: this paper we present a method for optimal control of a nonlinear highlyrealistic helicopter model based on a combination of a neural network (NN) feedbackcontroller and a state-dependent Riccati equation (SDRE) controller. Optimizationof the NN is performed within a receding horizon model predictive control (MPC)framework, subject to dynamic and kinematic constraints. The SDRE controllerutilizes a simplied 6DOF rigid body dynamic model, and augments the NN controllerby providing...

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关键词

model predictive control,rigid body dynamics,neural network,optimal control

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