Finite-horizon optimal linear control for autonomous soft landing of small-scale helicopter

Author

Xia, Xiaohu ; Ge, Yunjian

Author_Institution

Hefei Univ., Hefei, China

fYear

2010

fDate

20-23 June 2010

Firstpage

1160

Lastpage

1164

Abstract

This paper addresses soft landing of miniature helicopter issue and suggests an optimal strategy to reduce the terminal error. As two conventional methods to solve two-point boundary value problems, matrix Riccati equations and transition matrix are applied in sequence to acquire high terminal accuracy in LQR control law design. The role of the transition matrix is elaborated. Simulations also show that extending final time can reduce the quadratic performance index effectively.

Keywords

Riccati equations; aircraft control; boundary-value problems; control system synthesis; helicopters; linear quadratic control; matrix algebra; performance index; LQR control law design; autonomous soft landing; finite horizon optimal linear control; matrix Riccati equations; quadratic performance index; small scale helicopter; terminal error reduction; transition matrix; two point boundary value problem; Control systems; Helicopters; Intelligent sensors; Mathematical model; Moon; Optimal control; Riccati equations; Tail; Unmanned aerial vehicles; Vectors; Optimal linear control; matrix Riccati equations; transition matrix;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512302

Filename

5512302