지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 117 - 120 (4page)
이용수
초록· 키워드
오류제보하기
This paper concerns with the autonomous flight control system of an unmanned helicopter. We adopt a model-free discrete linear quadratic regulation (LQR) architecture based on reinforcement learning algorithm by rewriting the Q-learning approach. From input and output data, the linear quadratic optimal gain is directly found without system identification procedure. Least square method is adopted in order to estimate the Q-value and the parameters related to optimal control gain. This methodology does not access to an exact model of the system and can be applied to full flight envelop maneuvering from hovering to aggressive flight with small modification. We constructed numerical simulations to evaluate the proposed algorithm with a discrete linear model of the unmanned helicopter.
목차
Abstract
1. INTRODUCTION
2. LINEAR QUADRATIC CONTROL
3. MODEL-FREE LINEAR QUADRATIC CONTROL
4. APPLICATION TO AN UNMANNED HELICOPTER
5. CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2014-569-000912188