Data-Driven Adaptive Optima Control of UAV

被引：1
|
作者：
Du, Shuai [1 ]
Wang, Xiaoli [1 ]
Li, Zean [1 ]
机构：
[1] Harbin Inst Technol, Sch Informat Sci & Engn, Weihai, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
关键词：
Data-driven; Adaptive optimal control; Linear quadratic regulator(LQR); UAV;
D O I：
10.1109/CAC51589.2020.9327861
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies a data-driven adaptive optimal attitude control problem of a quadrotor unmanned aerial vehicle(UAV) via state feedback. A novel sampled-data-based adaptive dynamic programming (ADP) method is developed. We consider the uncertain system parameters and external disturbances. Then the optimal feedback gain is iteratively learned by input/state information. The stability of this method is ensured theoretically. Finally, simulation results are presented to verify the effectiveness of the method.
引用
收藏
页码：2312 / 2317
页数：6
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