Helicopter autorotation trajectory planning problems have been dealt within computationally expensive optimal control algorithms. This paper presents an efficient helicopter autorotation trajectory planning method, using functional tensor-train- (FT-) based dynamic programming (DP) algorithms. The autorotation trajectory planning method is shown real-time feasible, which involves general helicopter autorotation dynamics at the same time. To validate the dynamic feasibility of the trajectories, a trajectory-tracking controller using active disturbance rejection control (ADRC) is designed to ensure a helicopter model tracks the trajectories. Finally, a helicopter autorotation simulation with a six-degree-of-freedom high-fidelity multibody-based helicopter model is demonstrated for validation.

中文翻译：

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基于功能张量训练的动态规划算法的直升机自转轨迹规划方法

直升机自转轨迹规划问题已在计算昂贵的最佳控制算法中解决。本文提出了一种有效的直升机自转轨迹规划方法，该方法使用基于功能张量-训练（FT-）的动态规划（DP）算法。该自动旋转轨迹规划方法是实时可行的，该方法同时涉及一般直升机的自动旋转动力学。为了验证轨迹的动态可行性，设计了使用主动干扰抑制控制（ADRC）的轨迹跟踪控制器，以确保直升机模型能够跟踪轨迹。最后，演示了使用六自由度高保真多主体直升机模型进行的直升机自动旋转仿真，以进行验证。