dc.contributor.author | Hager, Louw vS. | |
dc.contributor.author | Uren, Kenneth R. | |
dc.contributor.author | Van Schoor, George | |
dc.date.accessioned | 2016-04-11T07:14:18Z | |
dc.date.available | 2016-04-11T07:14:18Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | Hager, L.vS. et al. 2014. Series-parallel approach to on-line observer based neural control of a helicopter system. IFAC 2014. Proceedings of the 19th World Congress. IFAC proceedings, 47(3):2545-2550. [https://doi.org/10.3182/20140824-6-ZA-1003.02060] | en_US |
dc.identifier.issn | 1474-6670 | |
dc.identifier.uri | http://hdl.handle.net/10394/16895 | |
dc.identifier.uri | https://www.sciencedirect.com/science/article/pii/S1474667016419920 | |
dc.identifier.uri | https://doi.org/10.3182/20140824-6-ZA-1003.02060 | |
dc.description.abstract | This paper is concerned with the control of an under-actuated, uncertain, delayed
non-linear system through the implementation of arti cial neural networks(ANNs). The aim is
the development of a series-parallel training scheme for the on-line observer to ensure faster
convergence and more accurate estimations. Reinforcement learning is used to improve future
performance and maintain stability while an estimated tracking error is minimised. Lyapunov
stability measures are employed to guarantee the uniform ultimate boundedness of the closedloop
tracking error. Real-time learning algorithms are derived for the individual components
(observer, actor, critic). Final performance is tested on a mathematical helicopter model and
real-world helicopter
ight data | en_US |
dc.description.sponsorship | National Research Foundation of South Africa
(Grant specific unique reference number (UID: 80020) | en_US |
dc.description.uri | http://www.ifac-papersonline.net/ | |
dc.language.iso | en | en_US |
dc.publisher | Elsevier | en_US |
dc.subject | Neural network | en_US |
dc.subject | adaptive control | en_US |
dc.subject | helicopter systems | en_US |
dc.title | Series-parallel approach to on-line observer based neural control of a helicopter system | en_US |
dc.type | Presentation | en_US |
dc.contributor.researchID | 12064203 - Uren, Kenneth Richard | |
dc.contributor.researchID | 12134457 - Van Schoor, George | |