Model-Free Attitude Control of Quadcopter using Disturbance Observer and Integral Reinforcement Learning

被引：0

作者：

Lee, Hanna ^{[1
]}

Kim, Youdan ^{[1
,2
]}

机构：

[1] Seoul Natl Univ, Dept Aerosp Engn, Seoul 08826, South Korea

[2] Seoul Natl Univ, Dept Aerosp Engn, Inst Adv Aerosp Technol, Seoul 08826, South Korea

来源：

AIAA SCITECH 2024 FORUM | 2024年

基金：

新加坡国家研究基金会;

关键词：

EXTENDED STATE OBSERVER; NONLINEAR-SYSTEMS; TRACKING; SUBJECT; DESIGN;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

A model-free attitude controller is designed for quadcopter systems using extended state observer and integral reinforcement learning. The extended state observer enables controller design even without the complete knowledge of system dynamic model. As a baseline controller, an integral reinforcement learning approach is employed, which is updated with online data along with system trajectories. Numerical simulations demonstrate the effectiveness and robustness of the proposed method for quadcopter attitude control.

引用

页数：12

共 50 条

[41] Hybrid control for combining model-based and model-free reinforcement learning
Pinosky, Allison
Abraham, Ian
Broad, Alexander
Argall, Brenna
Murphey, Todd D.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2023, 42 (06): : 337 - 355
[42] Model-Free Reinforcement Learning of Minimal-Cost Variance Control
Jing, Gangshan
Bai, He
George, Jemin
Chakrabortty, Aranya
IEEE CONTROL SYSTEMS LETTERS, 2020, 4 (04): : 916 - 921
[43] Model-free control based on reinforcement learning for a wastewater treatment problem
Syafiie, S.
Tadeo, F.
Martinez, E.
Alvarez, T.
APPLIED SOFT COMPUTING, 2011, 11 (01) : 73 - 82
[44] Model-Free Decentralized Reinforcement Learning Control of Distributed Energy Resources
Mukherjee, Sayak
Bai, He
Chakrabortty, Aranya
2020 IEEE POWER & ENERGY SOCIETY GENERAL MEETING (PESGM), 2020,
[45] Fusion of Microgrid Control With Model-Free Reinforcement Learning: Review and Vision
She, Buxin
Li, Fangxing
Cui, Hantao
Zhang, Jingqiu
Bo, Rui
IEEE TRANSACTIONS ON SMART GRID, 2023, 14 (04) : 3232 - 3245
[46] MODEL-FREE PREDICTIVE CONTROL OF NONLINEAR PROCESSES BASED ON REINFORCEMENT LEARNING
Shah, Hitesh
Gopal, M.
IFAC PAPERSONLINE, 2016, 49 (01): : 89 - 94
[47] Model-Free Reinforcement Learning based Lateral Control for Lane Keeping
Zhang, Qichao
Luo, Rui
Zhao, Dongbin
Luo, Chaomin
Qian, Dianwei
2019 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2019,
[48] A Comparison between Advanced Model-Free PID and Model-Based LQI Attitude Control of a Quadcopter Using Asynchronous Android Flight Data
Alsharif, Mohammad A.
Arslantas, Yunus E.
Hoelzel, Matthew S.
2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2017, : 1023 - 1028
[49] Learning Representations in Model-Free Hierarchical Reinforcement Learning
Rafati, Jacob
Noelle, David C.
THIRTY-THIRD AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE / THIRTY-FIRST INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE / NINTH AAAI SYMPOSIUM ON EDUCATIONAL ADVANCES IN ARTIFICIAL INTELLIGENCE, 2019, : 10009 - 10010
[50] Design of quadcopter attitude controller based on data-driven model-free adaptive sliding mode control
Yongjun, Ding
Jianhong, Wang
Jinlong, Zhang
Xi, Luo
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2024, 12 (05) : 1404 - 1414

← 1 2 3 4 5 →