A distributed robust optimal formation control problem is discussed via reinforcement learning for the heterogeneous rotorcrafts with unknown parameters. The formation system involves equivalent disturbance including nonlinearity and external disturbance. The proposed robust optimal controller consists of a nominal controller and a robust compensator. The reinforcement learning algorithm is used to obtain the unknown system parameters. Then, the nominal controller is applied to achieve the desired optimal control input; the robust compensator is constructed to counteract the equivalent disturbance in the overall system. Simulation result verifies the effectiveness of the proposed control approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust optimal control law learning for heterogeneous rotorcraft formation involving unknown parameters*


    Contributors:
    Liu, Hao (author) / Meng, Qingyao (author) / Yang, Liang (author) / Tian, Hui (author) / Yuan, Junya (author)


    Publication date :

    2020-09-01


    Size :

    445616 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Probabilistic robust control of rotorcraft

    Horn, J.F. / Tolani, D.K. / Lagoa, C.M. et al. | Tema Archive | 2005


    Robust Control System Design for Rotorcraft

    Chih-Min Lin / Chen-Ling Ying | AIAA | 2002


    Robust Control System Design for Rotorcraft

    Lin, C.-M. | Online Contents | 2002


    Robust-Decoupling Design for Rotorcraft Flight Control

    Young, J. S. | British Library Conference Proceedings | 1993


    ROTORCRAFT CONTROL DEVICE AND ROTORCRAFT WITH SUCH ROTORCRAFT CONTROL DEVICE

    PATRICK C SCOFIELD / TODD C BROWN | European Patent Office | 2017

    Free access