Reinforcement learning and model predictive control for robust embedded quadrotor guidance and control
نویسندگان
چکیده
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.
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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...
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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...
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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 ...
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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...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2019
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-019-09829-4