Controller design for a wall landing airplane
نویسندگان
چکیده
Plane perching on a wire has been demonstrated with success in laboratory conditions by [Cory & Tedrake, 2008]. The present paper focuses on designing a controller for a small wall landing glider. We use a simulator and a reinforcement learning algorithm in a coarsely discretized state-space to design an optimal control for the landing. Analysis of this policy allows us to deduce a simpler closed loop controller that is robust to variations in initial speed and that only relies on pitch and pitch rate measurement. A controller of that class is now being implemented on the real airplane.
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