کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Adaptive Controller for Swash Mass Helicopter based on Reinforcement Learning Algorithm

نویسندگان :

Tahereh Bagheri Rouch¹ Davood Allahverdy² Ahmad Fakharian³

1- دانشگاه آزاد اسلامی واحد قزوین 2- دانشگاه آزاد اسلامی واحد علوم و تحقیقات 3- دانشگاه آزاد اسلامی واحد قزوین

کلمات کلیدی :

Reinforcement learning, Swash mass helicopter, Fitted value iteration, Feedback linearization, train.

چکیده :

In this paper, a dynamical model of unmanned aerial vehicles (UAVs) known as swash mass helicopter (SMH) is presented. Since, the SMH is a highly nonlinear system, it is necessary to design an adaptive control framework to stabilize this type of vehicle. First, a feedback linearization control method is employed to the rotational and translational of the SMH subsystems. Then, a learning algorithm named reinforcement algorithm has been applied to train the controller. Finally, the simulation results have been illustrated to evaluate the performance of the proposed controller

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