Compound Learning Control for Autonomous Position and Obstacle Control of Aerial Hovering Vehicles

摘要

Aerial hovering vehicles represent application ofudnon-linear devices in real environment. Controls of such devicesudare dif¿cult due to instability in certain states of operation.udOperating such device requires skills, and such knowledge of skillsudare even hard to develop as autonomous control system. In thisudresearch, a Compound Learning Control System for autonomousudposition control of aerial hovering vehicles among obstacle isuddesigned. Compound function was applied together with twoudLearning Control functions concerning position transition andudobstacles avoidance in the designed system. The system is expectedudto provide reliable and safe autonomous position transitionudthrough obstacle for an aerial hovering vehicle with non-linearityudand was applied in simulation of an aerial hovering vehicle.udSimulation results show that the system was able to provideudautonomous position transition through obstacles successfully