Title :
A Q,R Search Method for an Unmanned Helicopter Based on LQR
Author :
Benfu Wang ; Xiangyang Xu ; Yaping Dai ; Guangjun Shi
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
Based on a simplified mathematical model of a certain type of unmanned helicopter (UMH), this paper realizes its longitudinal hovering attitude control Based on LQR (linear quadratic regulator). This paper starts with practice, and designs Q, R parameter search algorithm for this type of unmanned helicopter. Simulation results show that this algorithm can find the optimal Q, R parameters, so it has important engineering significance.
Keywords :
attitude control; autonomous aerial vehicles; helicopters; linear quadratic control; mobile robots; search problems; LQR; Q parameter search algorithm; R parameter search algorithm; UMH; linear quadratic regulator; longitudinal hovering attitude control; unmanned helicopter; Algorithm design and analysis; Helicopters; MATLAB; Mathematical model; Optimal control; Steady-state; Symmetric matrices; LQR; Q; R search; digital simulation; hovering; unmanned helicopter;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.199
