Helicopter Autorotation Trajectory Planning Method Using Functional Tensor-Train-Based Dynamic Programming Algorithms

Wang Yunjie; Jiang Chen; Deng Shuai; Wang Haowen

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Helicopter Autorotation Trajectory Planning Method Using Functional Tensor-Train-Based Dynamic Programming Algorithms

机译：直升机自动化轨迹规划方法，基于功能张于列车的动态规划算法

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Helicopter autorotation trajectory planning problems have been dealt within computationally expensive optimal control algorithms. This paper presents an efficient helicopter autorotation trajectory planning method, using functional tensor-train- (FT-) based dynamic programming (DP) algorithms. The autorotation trajectory planning method is shown real-time feasible, which involves general helicopter autorotation dynamics at the same time. To validate the dynamic feasibility of the trajectories, a trajectory-tracking controller using active disturbance rejection control (ADRC) is designed to ensure a helicopter model tracks the trajectories. Finally, a helicopter autorotation simulation with a six-degree-of-freedom high-fidelity multibody-based helicopter model is demonstrated for validation.

机译：直升机自动化轨迹规划问题已在计算昂贵的最佳控制算法中处理。本文介绍了一种有效的直升机自动运动轨迹规划方法，使用基于功能张力列车（FT-）的动态编程（DP）算法。自动化轨迹规划方法是实时可行的，其涉及相同的直升机自动动态。为了验证轨迹的动态可行性，旨在使用主动干扰抑制控制（ADRC）的轨迹跟踪控制器旨在确保直升机模型跟踪轨迹。最后，对具有六维自由度的高保真多体的直升机模型进行了直升机自动化模拟，用于验证。

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来源
《International journal of aerospace engineering》 |2020年第2期|1372052.1-1372052.13|共13页
作者
Wang Yunjie; Jiang Chen; Deng Shuai; Wang Haowen;
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Tsinghua Univ Sch Aerosp Beijing 100084 Peoples R China;

Tsinghua Univ Sch Aerosp Beijing 100084 Peoples R China;

Tsinghua Univ Sch Aerosp Beijing 100084 Peoples R China;

Tsinghua Univ Sch Aerosp Beijing 100084 Peoples R China;

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机译：直升机自动化轨迹规划方法使用功能张力列车的动态规划算法
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机译：通过动态编程实现机器人轨迹规划

Helicopter Autorotation Trajectory Planning Method Using Functional Tensor-Train-Based Dynamic Programming Algorithms

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