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In this paper, we develop a novel reinforcement learning algorithm which requires only system output and converges to an optimal output feedback control policy with expected dynamic performance. An informative reward function based on reference model is adopted to intuitively represent the desired closed-loop performance, which significantly reduces the difficulty of reward construction. A stochastic...
By analyzing the physical and aerodynamic principles, the vertical dynamics of a mini unmanned helicopter is modeled, and from which the analytic form of linearized model is derived out. A vertical velocity controller is designed based on this model, which scheduled by a multilevel finite state machine (FSM). In the addition, an effective autonomous landing programming method with effectively utilizing...
Simulation is the important method for shock-resistant ability design of shipboard equipment. And shipboard equipment shock-resistant ability is the one of important factor of ship life ability. Four-missile launcher resistant shock ability has been evaluated by American navy dynamic design analysis method (DDAM). The four-missile launcher has maximal value of displacement at Z direction, and has...
The design problem of guidance system of a longitudinal automatic carrier landing system is considered. The mathematic model of the landing guidance problem is created based on the analysis of the main architecture of a longitudinal automatic carrier landing system. The landing guidance system is designed via adaptive variable structure sliding mode control theory and the stability of guidance system...
This paper presents a continuous sliding mode control method based on feedback linearization, an output tracking control is designed for the system. A discontinuous sliding mode control can be changed into a continuous one by dynamical extending the nonlinear system. The problem of zero dynamics from the state feedback exact linearization process can be solved by placing two integrators in front of...
Hovering performance of unmanned helicopter is of key importance in flight.This paper presents an autonomous control system to achieve the excellent hovering performance for a miniature unmanned helicopter. First, the response data of system is collected during special flight test and a linear time-invariant model is extracted by frequency identification technique.Then, the control system is designed...
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