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

页码：2312 / 2317

页数：6

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