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题名: Helicopter Velocity Tracking Control by Adaptive Actor-Critic Reinforcement Method
作者: Hu Y(胡飏) ; Chen Y(陈洋) ; Han JD(韩建达) ; Wang YC(王越超) ; Qi JT(齐俊桐)
作者部门: 机器人学研究室
会议名称: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: December 7-11, 2011
会议地点: Phuket, Thailand
会议主办者: IEEE Robotics and Automation Society
会议录: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2011
页码: 1482-1486 1482-1486
收录类别: EI
ISBN号: 978-1-4577-2136-6
关键词: Helicopters ; Learning ; Mathematical model ; Robots ; Training ; Vectors ; Vehicle dynamics
摘要: A robotic helicopter is an aircraft equipped with a sensing, computing, actuation, and communication infrastructure that allows it to execute a variety of tasks with autonomous mode. In this paper, we present an adaptive actor-critic reinforcement method to obtain near optimal controller for small autonomous helicopter. A network based on Q-value performs the critic and is trained by SARSA algorithm. A BP neural network, which is the actor network, generates control signal of helicopter dynamics. First, the proposed actor-critic reinforcement controller is introduced, then the algorithm is applied to an unmanned helicopter known as a highly nonlinear and complex system and the simulation results are presented.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8729
Appears in Collections:机器人学研究室_会议论文

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