"This thesis addresses optimal control of a helicopter unmanned aerial vehicle (UAV). Helicopter UAVs may be widely used for both military and civilian operations. Because these helicopters are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This thesis presents an optimal controller design via both state and output feedback for trajectory tracking of a helicopter UAV using a neural network (NN). The state and output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers while the output feedback approach uses an observer in addition to these controllers. The online approximator-based dynamic controller learns the Hamilton-Jacobi-Bellman (HJB) equation in continuous time and calculates the corresponding optimal control input to minimize the HJB equation forward-in-time. Optimal tracking is accomplished with a single NN utilized for cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking. A description of the hardware for confirming the theoretical approach, and a discussion of material pertaining to the algorithms used and methods employed specific to the hardware implementation is also included. Additional attention is devoted to challenges in implementation as well as to opportunities for further research in this field. This thesis is presented in the form of two papers"--Abstract, page iv.
Sarangapani, Jagannathan, 1965-
Erickson, Kelvin T.
Zawodniok, Maciej Jan, 1975-
Electrical and Computer Engineering
M.S. in Electrical Engineering
U.S. Army Research Laboratory
Missouri University of Science and Technology
Journal article titles appearing in thesis/dissertation
- Neural network-based optimal output feedback control for trajectory tracking of a helicopter UAV.
- Neural-network-based optimal control of a helicopter unmanned aerial vehicle (UAV) with hardware implementation
ix, 94 pages
© 2011 David John Nodland, All rights reserved.
Thesis - Open Access
Helicopters -- Control systems
Vehicles, Remotely piloted
Neural networks (Computer science)
Control theory -- Mathematical models
Print OCLC #
Electronic OCLC #
Link to Catalog Record
Nodland, David John, "Optimal control of a helicopter unmanned aerial vehicle (UAV)" (2011). Masters Theses. 5417.