Helicopter Velocity Tracking Control by Adaptive Actor-Critic Reinforcement Method
文献类型：会议论文
| 作者 | Hu Y(胡飏) ; Chen Y(陈洋); Han JD(韩建达); Wang YC(王越超); Qi JT(齐俊桐)
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| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
| 会议日期 | December 7-11, 2011 |
| 会议地点 | Phuket, Thailand |
| 关键词 | Helicopters Learning Mathematical model Robots Training Vectors Vehicle dynamics |
| 页码 | 1482-1486 1482-1486 |
| 中文摘要 | A robotic helicopter is an aircraft equipped with a sensing, computing, actuation, and communication infrastructure that allows it to execute a variety of tasks with autonomous mode. In this paper, we present an adaptive actor-critic reinforcement method to obtain near optimal controller for small autonomous helicopter. A network based on Q-value performs the critic and is trained by SARSA algorithm. A BP neural network, which is the actor network, generates control signal of helicopter dynamics. First, the proposed actor-critic reinforcement controller is introduced, then the algorithm is applied to an unmanned helicopter known as a highly nonlinear and complex system and the simulation results are presented. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society |
| 会议录 | 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4577-2136-6 |
| 源URL | [http://ir.sia.cn/handle/173321/8729]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Hu Y,Chen Y,Han JD,et al. Helicopter Velocity Tracking Control by Adaptive Actor-Critic Reinforcement Method[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). Phuket, Thailand. December 7-11, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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