Development of reinforced learning based non-linear controller for unmanned aerial vehicle.

Autor: Din, Adnan Fayyaz Ud, Mir, Imran, Gul, Faiza, Akhtar, Suhail
Zdroj: Journal of Ambient Intelligence & Humanized Computing; Apr2023, Vol. 14 Issue 4, p4005-4022, 18p
Abstrakt: Design complexities of trending UAVs and the operational harsh environments necessitates Control Law formulation utilizing intelligent techniques that are both robust, model-free and adaptable. In this research, an intelligent control architecture for an experimental Unmanned Aerial Vehicle (UAV) having an unconventional inverted V-tail design, is presented. Due to unique design of the vehicle strong roll and yaw coupling exists, making the control of vehicle challenging. To handle UAV's inherent control complexities, while keeping them computationally acceptable, a variant of distinct Deep Reinforcement learning (DRL) algorithm, namely Reformed Deep Deterministic Policy Gradient (R-DDPG) is proposed. Conventional DDPG algorithm after being modified in its learning architecture becomes capable of intelligently handling the continuous state and control space domains besides controlling the platform in its entire flight regime. The paper illustrates the application of modified DDPG algorithm (namely R-DDPG) towards the design, while the performance of the resulting controller is assessed in simulation using dynamic model of the vehicle. Nonlinear simulations were then performed to analyze UAV performance under different environmental and launch conditions. The effectiveness of the proposed strategy is further demonstrated by comparing the results with the linear controller for the same UAV whose feedback loop gains are optimized by employing technique of optimal control theory achieved through application of Linear quadratic regulator (LQR) based control strategy. The efficacy of the results and performance characteristics, demonstrated the ability of the presented algorithm to dynamically adapt to the changing environment, thereby making it suitable for UAV applications. [ABSTRACT FROM AUTHOR]
Databáze: Complementary Index
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