Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Position Tracking Control of an Autonomous Helicopter by an LQR with Neural Network Compensation

자율 주행 헬리콥터의 위치 추종 제어를 위한 LQR 제어 및 신경회로망 보상 방식

  • 엄일용 (충남대학교 메카트로닉스공학과) ;
  • 석진영 (충남대학교 항공우주공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2005.11.01

Abstract

In this paper, position tracking control of an autonomous helicopter is presented. Combining an LQR method and a proportional control forms a simple PD control. Since LQR control gains are set for the velocity control of the helicopter, a position tracking error occurs. To minimize a position tracking error, neural network is introduced. Specially, in the frame of the reference compensation technique for teaming neural network compensator, a position tracking error of an autonomous helicopter can be compensated by neural network installed in the remotely located ground station. Considering time delay between an auto-helicopter and the ground station, simulation studies have been conducted. Simulation results show that the LQR with neural network performs better than that of LQR itself.

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