基于LQR的无人直升机Q,R搜索方法

2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics Pub Date : 2013-08-26 DOI:10.1109/IHMSC.2013.199

B. Wang, Xiangyang Xu, Y. Dai, G. Shi

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引用次数: 1

摘要

基于某型无人直升机(UMH)的简化数学模型，实现了基于线性二次型调节器(LQR)的纵向悬停姿态控制。本文从实际出发，设计了该型无人直升机的Q、R参数搜索算法。仿真结果表明，该算法能够找到最优的Q、R参数，具有重要的工程意义。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Q,R Search Method for an Unmanned Helicopter Based on LQR

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.

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics

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