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Control of UAV quadrotor using reinforcement learning and robust controller
- Source :
- IET Control Theory & Applications, Vol 17, Iss 12, Pp 1599-1610 (2023)
- Publication Year :
- 2023
- Publisher :
- Wiley, 2023.
-
Abstract
- Abstract The control of unmanned aerial vehicle quadrotor is challenging because of nonālinearities, 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.
Details
- Language :
- English
- ISSN :
- 17518652 and 17518644
- Volume :
- 17
- Issue :
- 12
- Database :
- Directory of Open Access Journals
- Journal :
- IET Control Theory & Applications
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.7c025295c8e54f66b0bf59cb0951d10d
- Document Type :
- article
- Full Text :
- https://doi.org/10.1049/cth2.12496