A PID Gain Adjustment Scheme Based on Reinforcement Learning Algorithm for a Quadrotor
作者单位：School of Aerospace EngineeringBeijing Institute of Technology
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
关 键 词：Quadrotor Control PID controller Reinforcement learning PPO algorithm
摘 要：In this paper, a PID gain adjustment scheme with the basis on Reinforcement Learning Algorithm is proposed, the validity of the scheme is demonstrated with the application to the control of a quadrotor. Specifically, the PPO algorithm of reinforcement learning is utilized in the scheme to adjust a PID controller gains. The procedure and details of the scheme are presented. The experiments prove that the control strategy with this scheme can quickly make the controlled system converge and stabilize. The scheme, compared with a traditional PID controller, has a good performance in terms of control stability, antiinterference stability, and aircraft altitude stability.