关键词：直升机动力学；机器学习；动态建模；ReLUs
摘 要：We pose the dynamics modeling problem as direct high-dimensional regression, and take inspiration from recent results in Deep Learning to represent the helicopter dynamics with a Rectified Linear Unit (ReLU) Network Model, a hierarchical neural network model. We provide a simple method for initializing the parameters of the model, and optimization details for training. We describe three baseline models and show that they are significantly outperformed by the ReLU Network Model in experiments on real data, indicating the power of the model to capture useful structure in system dynamics across a rich array of aerobatic maneuvers.