Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered nonlinear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER) and Return Weighted Regression (RWR) are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.