Neuro-controllers for adaptive helicopter hover training

摘要

This paper presents an application of artificial neural networks in adaptive helicopter hover training of novice student pilots. The design of the adaptive trainer utilizes the hypothesis that novices can be trained to fly a helicopter system automatically (with no human interaction) if the helicopter system adapts to the learning curve of the student. Two different techniques based on the above approach are presented. In the first technique, the helicopter system actively enforces optimality by augmenting the novice's control inputs by amounts necessary to satisfy desired performance criteria. The second technique uses relaxed performance criteria that are not initially optimal, but approach optimality in a graded fashion, based on the learning curve of the student. Adaptive neuro-controllers, together with a critic model, are used to implement the adaptive helicopter system. The results using simulated student models verify the approach adopted, and show that the adaptive neuro-controllers allow the helicopter system to adapt to the novice's learning curve.