Robust finite‐horizon optimal control of autonomous helicopters in aggressive maneuvering

Wang, Hao; Shi, Zongying; Zhong, Yisheng

doi:10.1002/asjc.2246

Cited by 4 publications

(4 citation statements)

References 27 publications

(25 reference statements)

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“…Then this lemma can be proved analogously as Theorem 1 of [49]. □ In this paper, a system satisfying ||x E (t)|| 2 2 ≤ 𝜖 is said to have 𝜖-robustness about the state trajectory.…”

Section: V(t) = −𝑓 Iv(t) − 𝑓 B δ(T) V(0) = 𝟎mentioning

confidence: 95%

“…The scalar 𝑓 therein is a parameter [49]. Note that Equation ( 12) describes a filter who takes x(t) and u(t) as input in real time and continuously generates v(t) as output.…”

Section: 𝝈(T) = −𝑓 𝝈(T) + (A + 𝑓 I)x(t) + Bu(t)mentioning

confidence: 99%

“…Proof The error system () can be rewritten as

{\dot{\boldsymbol{x}}}_{\mathrm{E}}(t)&#x0003D;{\boldsymbol{A}}_{\mathrm{E}}(t){\boldsymbol{x}}_{\mathrm{E}}(t)&#x0002B;\boldsymbol{I}\left[\boldsymbol{v}(t)&#x0002B;\boldsymbol{\delta} (t)\right],\kern0.30em {\boldsymbol{x}}_{\mathrm{E}}(0)&#x0003D;\mathbf{0},

in which

{\boldsymbol{A}}_{\mathrm{E}}(t)&#x0003D;\boldsymbol{A}&#x0002B;{\boldsymbol{BK}}_{\boldsymbol{\alpha}}(t)

. Then this lemma can be proved analogously as Theorem 1 of [49]. □…”

Section: Control Strategies For Bounded Performance Indexes In Uncert...mentioning

confidence: 99%

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Cooperative linear quadratic differential games for uncertain systems with conservative players

Zhang

Shi

Zhong

2023

Asian Journal of Control

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This paper investigates cooperative linear quadratic differential games for uncertain dynamic systems with conservative players, who attempt to optimize the worst‐case outcomes with limited a priori knowledge about the uncertainties. Without properly designed control strategies, the uncertainties could cause significant impacts on the performance indexes of players and spoil the cooperation among players. In this paper, compensation‐based robust control techniques are applied to handle the uncertainties, including parameter perturbations and external disturbances, by transforming the impacts of the uncertainties into a more tractable form. Subsequently, using Vickrey–Clarke–Groves principles, an auction‐based control allocation mechanism is designed to incentivize the players to cooperatively implement the compensation. With the methods proposed, the worst‐case performance indexes of players can be improved, and the cooperation among players is maintained in the uncertain system. Numerical examples demonstrate the effectiveness of the proposed methods.

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“…Then this lemma can be proved analogously as Theorem 1 of [49]. □ In this paper, a system satisfying ||x E (t)|| 2 2 ≤ 𝜖 is said to have 𝜖-robustness about the state trajectory.…”

Section: V(t) = −𝑓 Iv(t) − 𝑓 B δ(T) V(0) = 𝟎mentioning

confidence: 95%

“…The scalar 𝑓 therein is a parameter [49]. Note that Equation ( 12) describes a filter who takes x(t) and u(t) as input in real time and continuously generates v(t) as output.…”

Section: 𝝈(T) = −𝑓 𝝈(T) + (A + 𝑓 I)x(t) + Bu(t)mentioning

confidence: 99%

“…Proof The error system () can be rewritten as

{\dot{\boldsymbol{x}}}_{\mathrm{E}}(t)&#x0003D;{\boldsymbol{A}}_{\mathrm{E}}(t){\boldsymbol{x}}_{\mathrm{E}}(t)&#x0002B;\boldsymbol{I}\left[\boldsymbol{v}(t)&#x0002B;\boldsymbol{\delta} (t)\right],\kern0.30em {\boldsymbol{x}}_{\mathrm{E}}(0)&#x0003D;\mathbf{0},

in which

{\boldsymbol{A}}_{\mathrm{E}}(t)&#x0003D;\boldsymbol{A}&#x0002B;{\boldsymbol{BK}}_{\boldsymbol{\alpha}}(t)

. Then this lemma can be proved analogously as Theorem 1 of [49]. □…”

Section: Control Strategies For Bounded Performance Indexes In Uncert...mentioning

confidence: 99%

See 1 more Smart Citation

Cooperative linear quadratic differential games for uncertain systems with conservative players

Zhang

Shi

Zhong

2023

Asian Journal of Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…Due to the vertical take-off and landing (VTOL) capabilities in limited spaces, helicopters have been rapidly used in military and civil fields [1][2][3]. It is a challenging problem to design an effective control scheme for a helicopter in the presence of system uncertainties and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based robust optimal control for helicopter with uncertainties and disturbances

Qiu

Liu

et al. 2023

Asian Journal of Control

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Unknown model uncertainties and external disturbances widely exist in helicopter dynamics and bring adverse effects on control performance. Optimal control techniques have been extensively studied for helicopters, but these methods cannot effectively handle flight control problems since they are sensitive to uncertainties and disturbances. This paper proposes an observer‐based robust optimal control scheme that enables a helicopter to fly optimally and reduce the influence of unknown model uncertainties and external disturbances. A control Lyapunov function (CLF) is firstly constructed using the backstepping method, then Sontag's formula is utilized to design an inverse optimal controller to stabilize the nominal system. Furthermore, it is stressed that the radial basis function (RBF) neural network is introduced to establish an observer with adaptive laws, approximating and compensating for the unknown model uncertainties and external disturbances to enhance the robustness of the closed‐loop system. The uniform ultimate boundedness of the closed‐loop system is ensured using the presented control approach via Lyapunov stability analysis. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control strategy.

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Reinforcement learning based robust tracking control for unmanned helicopter with state constraints and input saturation

Feng,

Zhou,

2024

Aerospace Science and Technology

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Robust finite‐horizon optimal control of autonomous helicopters in aggressive maneuvering

Cited by 4 publications

References 27 publications

Cooperative linear quadratic differential games for uncertain systems with conservative players

Cooperative linear quadratic differential games for uncertain systems with conservative players

Observer‐based robust optimal control for helicopter with uncertainties and disturbances

Reinforcement learning based robust tracking control for unmanned helicopter with state constraints and input saturation

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