Control of UAV quadrotor using reinforcement learning and robust controller

Autor:	Zizuo Zhang, Haiyang Yang, Yuanyuan Fei, Changyin Sun, Yao Yu
Jazyk:	angličtina
Rok vydání:	2023
Předmět:	adaptive control intelligent control Control engineering systems. Automatic machinery (General) TJ212-225
Zdroj:	IET Control Theory & Applications, Vol 17, Iss 12, Pp 1599-1610 (2023)
Druh dokumentu:	article
ISSN:	1751-8652 1751-8644
DOI:	10.1049/cth2.12496
Popis:	Abstract The control of unmanned aerial vehicle quadrotor is challenging because of non‐linearities, coupling and disturbance. Here, a novel control method which includes reinforcement learning (RL) component and robust component is proposed. In this method, the RL component only relies on collected data instead of modelling to handle coupling and disturbance from aerodynamics and model. To ensure safety during training and improve training speed, the robust component is used to reduce the disturbance .The stability of the system with our controller is proven by Lyapunov method. The results of the simulation exhibit advanced performance of our controller.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/7c025295c8e54f66b0bf59cb0951d10d Zobrazit plný text záznamu Plný text View record in DOAJ