Adaptive Controller for Swash Mass Helicopter based on Reinforcement Learning Algorithm

Rouch, Tahereh Bagheri; Allahverdy, Davood; Fakharian, Ahmad

doi:10.1109/iccia54998.2022.9737165

Cited by 3 publications

(3 citation statements)

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“…The curve obtained through connecting all the b + k points is defined as Γ b+ ; in the same sense, Γ b− can be formed by linking all the b − k . The curves Γ b+ and Γ b− are shown by Equations ( 9) and (12), respectively. The curve obtained through linking all the c + k points is defined as Γ c+ , and Γ c− is formed by linking all the c − k .…”

Section: Asymmetrical Tracking Differentiatormentioning

confidence: 99%

“…Mathematical simulations verify the proposed guidance law. In the simulation part, combined with the compound gradient descent (CGD) attitude estimation method and the ATD attitude control method [12][13][14][15], the feasibility of the proposed guidance and control law is tested through simulation of the landing process on moving platforms. The range of safety conditions for landing on a mobile platform is divided according to the simulation results of the landing process.…”

Section: Introductionmentioning

confidence: 99%

“…2 should be determined first. According to Equations ( 8), ( 9), ( 11) and (12), through k = 2, the coordinate of each point is obtained as follows:…”

mentioning

confidence: 99%

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Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

et al. 2022

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For some flight missions, such as autonomous landing on mobile platforms, the demands on indicators such as target-tracking accuracy and so on are relatively high. To achieve this, a guidance system with excellent precision is necessary. An asymmetric tracking differentiator based on a tracking differentiator is proposed to establish the guidance system. On the basis of the proposed asymmetric tracking differentiator, an altitudinal and horizontal helicopter guidance system structure is designed. In this paper, a guidance law is designed in order to meet the accuracy and precision requirements in the autonomous landing and transition process. Apart from that, a plane-motion-guidance law is also designed to realize static and dynamic point tracking, linear route tracking and circular route tracking to improve the trajectory smoothness and accuracy. Finally, simulations of the autonomous landing process on moving platforms, including three stages, namely approaching, tracking and landing, are completed. The application effects and precision of the autonomous landing guidance algorithm under different wave heights and period conditions are analyzed through the obtained simulation curves.

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Section: Asymmetrical Tracking Differentiatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

et al. 2022

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Robust Iterative Controller for a Swash Mass Helicopter Transporting a Cable-Suspended Payload

Allahverdy,

Bagheri Rouch,

Fakharian

et al. 2023

Iran J Sci Technol Trans Electr Eng

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Robust Feedback Linearization Control Design for Five-Link Human Biped Robot with Multi-Performances

2022

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: The study first proposes the difficult nonlinear convergent radius and convergent rate formulas and the complete derivations of a mathematical model for the nonlinear five-link human biped robot (FLHBR) system which has been a challenge for engineers in recent decades. The proposed theorem simultaneously has very distinctive superior advantages including the stringent almost disturbance decoupling feature that addresses the major deficiencies of the traditional singular perturbation approach without annoying “complete” conditions for the discriminant function and the global exponential stability feature without solving the impractical Hamilton–Jacobi equation for the traditional H-infinity technique. This article applies the feedback linearization technique to globally stabilize the FLHBR system that greatly improved those shortcomings of nonlinear function approximator and make the effective working range be global for whole state space, whereas the traditional Jacobian linearization technique is valid only for areas near the equilibrium point. In order to make some comparisons with traditional approaches, first example of the representative ones, that cannot be addressed well for the pioneer paper, is shown to demonstrate the fact that the effectiveness of the proposed main theorem is better than the traditional singular perturbation technique. Finally, we execute a second simulation example to compare the proposed approach with the traditional PID approach. The simulation results show that the transient behaviors of the proposed approach including the peak time, the rise time, the settling time and the maximum overshoot specifications are better than the traditional PID approach.

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Adaptive Controller for Swash Mass Helicopter based on Reinforcement Learning Algorithm

Cited by 3 publications

References 0 publications

Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

Robust Iterative Controller for a Swash Mass Helicopter Transporting a Cable-Suspended Payload

Robust Feedback Linearization Control Design for Five-Link Human Biped Robot with Multi-Performances

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