{"id":"https://openalex.org/W2092138809","doi":"https://doi.org/10.1109/robio.2011.6181499","title":"Helicopter velocity tracking control by adaptive actor-critic reinforcement method","display_name":"Helicopter velocity tracking control by adaptive actor-critic reinforcement method","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2092138809","doi":"https://doi.org/10.1109/robio.2011.6181499","mag":"2092138809"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181499","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038960550","display_name":"Yang Hu","orcid":"https://orcid.org/0000-0001-8605-7523"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Hu","raw_affiliation_strings":["CAS, Beijing, China","State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"CAS, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058354115","display_name":"Chen Yang","orcid":"https://orcid.org/0000-0001-6346-621X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Chen","raw_affiliation_strings":["CAS, Beijing, China","School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"CAS, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["State Key Laboratory of Robotics, SIA, CAS, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, SIA, CAS, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4391768281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102943351","display_name":"Yuechao Wang","orcid":"https://orcid.org/0009-0004-5846-6396"},"institutions":[{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuechao Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, SIA, CAS, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, SIA, CAS, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4391768281"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102124821","display_name":"Juntong Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juntong Qi","raw_affiliation_strings":["State Key Laboratory of Robotics, SIA, CAS, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, SIA, CAS, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4391768281"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038960550"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14615178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1482","last_page":"1486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8481223583221436},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7124661207199097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6061396598815918},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5595810413360596},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5517284870147705},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5031539797782898},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4733572006225586},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47304123640060425},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4728189706802368},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.467936247587204},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46651068329811096},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4264671504497528},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42042601108551025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4170488715171814},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37765026092529297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3344268202781677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2977406978607178},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07680219411849976},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.071875661611557}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8481223583221436},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7124661207199097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061396598815918},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5595810413360596},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5517284870147705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5031539797782898},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4733572006225586},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47304123640060425},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4728189706802368},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.467936247587204},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46651068329811096},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4264671504497528},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42042601108551025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4170488715171814},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37765026092529297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3344268202781677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2977406978607178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07680219411849976},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.071875661611557},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181499","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1515851193","https://openalex.org/W1978389690","https://openalex.org/W1986014385","https://openalex.org/W2008243430","https://openalex.org/W2099767582","https://openalex.org/W2108734173","https://openalex.org/W2117529974","https://openalex.org/W2125459523","https://openalex.org/W2134790752","https://openalex.org/W2135043890","https://openalex.org/W2169080882","https://openalex.org/W2979436439","https://openalex.org/W4214717370","https://openalex.org/W6644850858","https://openalex.org/W6678799574","https://openalex.org/W6685130742"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4323768008","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"A":[0,46,60],"robotic":[1],"helicopter":[2,73,91],"is":[3,55,65,81,86],"an":[4,32,89],"aircraft":[5],"equipped":[6],"with":[7,24],"a":[8,20,94],"sensing,":[9],"computing,":[10],"actuation,":[11],"and":[12,54,97,100],"communication":[13],"infrastructure":[14],"that":[15],"allows":[16],"it":[17],"to":[18,37,88],"execute":[19],"variety":[21],"of":[22,72],"tasks":[23],"autonomous":[25,44],"mode.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"present":[31],"adaptive":[33],"actor-critic":[34,78],"reinforcement":[35,79],"method":[36],"obtain":[38],"near":[39],"optimal":[40],"controller":[41,80],"for":[42],"small":[43],"helicopter.":[45],"network":[47],"based":[48],"on":[49],"Q-value":[50],"performs":[51],"the":[52,66,76,84,101],"critic":[53],"trained":[56],"by":[57],"SARSA":[58],"algorithm.":[59],"BP":[61],"neural":[62],"network,":[63,68],"which":[64],"actor":[67],"generates":[69],"control":[70],"signal":[71],"dynamics.":[74],"First,":[75],"proposed":[77],"introduced,":[82],"then":[83],"algorithm":[85],"applied":[87],"unmanned":[90],"known":[92],"as":[93],"highly":[95],"nonlinear":[96],"complex":[98],"system":[99],"simulation":[102],"results":[103],"are":[104],"presented.":[105]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}