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This paper explores an application of a multi-dimensional Taylor network (MTN) based control scheme in regulating the position loop of an unmanned helicopter (UH) under output constraints. The primary objective is to maintain the position of the UH within predefined boundaries while utilize a boundary protection strategy to formulate a trajectory with output constraints. Subsequently, an adaptive MTN controller is devised to ensure the precise tracking of the UH. Simulations are presented to demonstrate the efficiency of the proposed control scheme.

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Adaptive Tracking Control for Unmanned Helicopter Based on Multi-dimensional Taylor Network

  • 会议论文

  • 发表日期：

    2025年

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  • Yudong Li,
  • Zhiyang He,
  • Haibo Wang,
  • Shuang Shi

摘要

This paper explores an application of a multi-dimensional Taylor network (MTN) based control scheme in regulating the position loop of an unmanned helicopter (UH) under output constraints. The primary objective is to maintain the position of the UH within predefined boundaries while utilize a boundary protection strategy to formulate a trajectory with output constraints. Subsequently, an adaptive MTN controller is devised to ensure the precise tracking of the UH. Simulations are presented to demonstrate the efficiency of the proposed control scheme.