Reinforcement learning and model predictive control for robust embedded quadrotor guidance and control

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Reinforcement Learning-based Quadrotor Control

Analysis of quadrotor dynamics and control is conducted. A linearized quadrotor system is controlled using modern techniques. A MATLAB quadrotor control toolbox is presented for rapid visualization of system response. Waypoint-based trajectory control of a quadrotor is performed and appended to the MATLAB toolbox. Finally, an investigation of control using reinforcement learning is conducted.

متن کامل

Robust Control of a Quadrotor

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

متن کامل

Autonomous Quadrotor Control with Reinforcement Learning

Based on the same principles as a single-rotor helicopter, a quadrotor is a flying vehicle that is propelled by four horizontal blades surrounding a central chassis. Because of this vehicle’s symmetry and propulsion mechanism, a quadrotor is capable of simultaneously moving and steering by simple modulation of motor speeds [1]. This stability and relative simplicity makes quadrotors ideal for r...

متن کامل

Guidance and Control Laws for Quadrotor UAV

Abstract In this literature, guidance and control laws using a basic control system have been proposed for analyses and designs of a Quadrotor. The basic control system includes: (a)height Control system using velocity stabilizing in the inner loop; (b)roll, pitch and yaw attitude control systems using angular rate stabilizing in inner loops. Base upon the basic control system, the B X and B Y ...

متن کامل

Model Predictive Control and Reinforcement Learning as Two Complementary Frameworks

Model predictive control (MPC) and reinforcement learning (RL) are two popular families of methods to control system dynamics. In their traditional setting, they formulate the control problem as a discrete-time optimal control problem and compute a suboptimal control policy. We present in this paper in a unified framework these two families of methods. We run for MPC and RL algorithms simulatio...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Autonomous Robots

سال: 2019

ISSN: 0929-5593,1573-7527

DOI: 10.1007/s10514-019-09829-4