Finite-Horizon Optimal Linear Control for Autonomous Soft Landing of Small-scale Helicopter

摘要：

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.

关键词： Optimal linear control matrix Riccati equations transition matrix

作者: Xiaohu XIA Yunjian GE

作者单位: Hefei University Hefei 230601,P.R.China Institute of Intelligent Machines,CAS Hefei 230031,P.R.China Institute of Intelligent Machines,CAS Hefei 230031,P.R.China University of Science and Technology of

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）