TY - GEN
T1 - Model predictive neural control of a high-fidelity helicopter model
AU - Bogdanov, Alexander A.
AU - Wan, Eric A.
AU - Carlsson, Magnus
AU - Zhang, Yinglong
AU - Kieburtz, Richard
AU - Baptista, Antonio
PY - 2001
Y1 - 2001
N2 - In this paper we present a method for optimal control of a nonlinear highly realistic helicopter model based on a combination of a neural network (NN) feedback controller and a state-dependent Riccati equation (SDRE) controller. Optimization of the NN is performed within a receding horizon model predictive control (MPC) framework, subject to dynamic and kinematic constraints. The SDRE controller utilizes a simplified 6DOF rigid body dynamic model, and augments the NN controller by providing an initial feasible solution and improving stability. While the SDRE control provides robustness based on a pseudo-linear formulation of the dynamics, the MPNC utilizes the highly accurate numerical helicopter model.
AB - In this paper we present a method for optimal control of a nonlinear highly realistic helicopter model based on a combination of a neural network (NN) feedback controller and a state-dependent Riccati equation (SDRE) controller. Optimization of the NN is performed within a receding horizon model predictive control (MPC) framework, subject to dynamic and kinematic constraints. The SDRE controller utilizes a simplified 6DOF rigid body dynamic model, and augments the NN controller by providing an initial feasible solution and improving stability. While the SDRE control provides robustness based on a pseudo-linear formulation of the dynamics, the MPNC utilizes the highly accurate numerical helicopter model.
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M3 - Conference contribution
AN - SCOPUS:8744280898
SN - 9781563479786
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit 2001
Y2 - 6 August 2001 through 9 August 2001
ER -