Online optimal control for VTOL aircraft system based on DHP algorithm

It is well known that vertical take-off and landing (VTOL) aircraft system is a complex multi-variable nonlinear system with large disturbances. In order to control the VTOL aircraft system efficiently, it is necessary to explore new optimal control methods to stabilize the system states. In this paper, we apply dual heuristic programming (DHP) to design the optimal controller for VTOL aircraft system. As a framework of approximate dynamic programming (ADP) algorithm, DHP consists of three modules: model, critic and actor. The critic module output partial derivatives of cost function with respect to state. It has many advantages such as good dynamics, fast convergence rate, and high control resolution. Simulation and experimental results demonstrate the effectiveness of optimal controller for VTOL aircraft system based on the DHP algorithm.