제어로봇시스템학회:학술대회논문집

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

  • Eom, Il-Yong (Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Se-Ul (Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering, Chungnam National University)
  • Published : 2005.06.02
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Abstract

In this paper, position tracking control of an autonomous helicopter is presented. Velocity is controlled by using an optimal state controller LQR. A position control loop is added to form a PD controller. To minimize a position tracking error, neural network is introduced. The reference compensation technique as a neural network control structure is used, and a position tracking error of an autonomous helicopter is compensated by neural network installed in the remotely located ground station. Considering time delays between an autonomous helicopter and the ground station, simulation studies have been conducted. Simulation results show that the LQR with neural network compensation performs better than that of the LQR itself.

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