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Designing reliable flight control for an autonomous helicopter requires a high performance dynamics model.In this paper,a nonlinear autoregressive with exogenous inputs （NLARX） model is selected as the mathematical structure for identifying and controlling the flight of a small-scale helicopter.A neural network learning algorithm is combined with the NLARX model to identify the dynamic component of the rotorcraft unmanned aerial vehicle （RUAV）.This identification process is based on the well-known gradient descent learning algorithm.As a case study,the multiple-input multiple-output （MIMO） model predictive control （MPC） is applied to control the pitch motion of the helicopter.Results of the neural network output model are closely match with the real flight data.The MPC also shows good performance under various conditions. 相似文献
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The concepts of the theory of endogenous coalition formation have not been utilized much to analyze issues in the field of applied economics. In this paper, we show how these concepts make a relevant and innovative contribution to these issues. We first illustrate the fundamentals of this theory and we present the concept of internal and external cartel stability. We provide an illustration of this concept through a basic example of an oligopoly in a cartelization situation. Then, we show the relevance of these concepts by analyzing the battle between the high-definition DVD-player standards: Sony's Blu-Ray and NEC/Toshiba's HD-DVD. 相似文献
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