检索结果-南通市图书馆

Proximal policy optimization with an integral compensator for quadrotor control

Frontiers of Information Technology & Electronic Engineering 2020年第5期21卷 777-795页

作者： Huan HU Qing-ling WANG School of Automation Southeast UniversityNanjing 210096China

We use the advanced proximal policy optimization(PPO)reinforcement learning algorithm to optimize the stochastic control strategy to achieve speed control of the"model-free"*** model is controlled by four learned neural networks,which directly map the system states to control commands in an end-to-end *** introducing an integral compensator into the actor-critic framework,the speed tracking accuracy and robustness have been greatly *** addition,a two-phase learning scheme which includes both offline-and online-learning is developed for practical use.A model with strong generalization ability is learned in the offline ***,the flight policy of the model is continuously optimized in the online learning ***,the performances of our proposed algorithm are compared with those of the traditional PID algorithm.

关键词： Reinforcement learning Proximal policy optimization quadrotor control Neural network

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Ziegler-Nichols Customization for quadrotor Attitude control under Empty and Full Loading Conditions

引用

Computer Modeling in Engineering & Sciences 2020年第10期125卷 65-75页

作者： Ivan Paulo Canal Manuel Martin Pérez Reimbold Maurício de Campos Federal Institute of Education Science and Technology FarroupilhaCampus PanambiPanambiBrazil Regional University of the Northwest of the State of Rio Grande do Sul IjuíBrazil

An aircraft quadrotor is a complex control system that allows for great flexibility in *** multirotor aerial systems such as quadrotors is complex because the variables involved are not always available,known,and *** inclusion of payload changes the dynamic characteristics of the aircraft,making it necessary to adapt the control system for this *** the various control methods that have been investigated,proportional-integralderivative(PID)control offers good results and simplicity of application;however,achieving stability and high performance is challenging,with the most critical task being tuning the controller *** Ziegler-Nichols(ZN)theory was used to tune the controller gains for pitch and roll attitude command;however,the performance results were not *** response of this system was refined,resulting in an improvement in the reference tracking and the rejection of *** particular refinement was applied to the quadrotor,and via a reverse calculation,the parameters that allow the tuning of PID gains were obtained,based on *** particularization of the ZN theory applied to a quadrotor with and without a load(termed ZNAQ and ZNAQL,respectively)is proposed and results in a significant improvement in the control system response performance(up to 75%),demonstrating that ZNAQ and ZNAQL are valid for tuning the controller PID gains and are more efficient than the original ZN theory approach.

关键词： Ziegler-Nichols quadrotor control PID tuning multirotor

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Autonomous control and Target Tracking Algorithm Design for A quadrotor

Autonomous Control and Target Tracking Algorithm Design for ...

引用

第36届中国控制会议

作者： Yibei LI Yu YAO Fenghua HE Xiaoming HU Harbin Institute of Technology KTH Royal Institute of Technology

ISBN: (纸本)9781538629185

In this paper,the task of Mission 7 of International Aerial Robotics Competition（IARC） is *** quadrotor is required to autonomously navigate in a GPS-denied environment,and accomplish physical interaction with ground moving *** order to estimate the position of the quadrotor,a multi-sensor-compensation based method is designed and individual measurement errors are *** an extended Kalman flier（EKF） is utilized for attitude *** accomplish the target tracking task,a path planning algorithm is designed under the constraints of quadrotor dynamics,and consecutive waypoint setpoints are *** lower-level cascaded PID controllers are adopted to track the command ***,simulation and experimental results show the effectiveness and feasibility of the proposed methods.

关键词： quadrotor control target tracking state estimation

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Optimised trajectory tracking control for quadrotors based on an improved beetle antennae search algorithm

引用

Journal of control and Decision 2023年第3期10卷 382-392页

作者： Zhe Lin Ping Li Zhaoqi Zhang College of Information Science and Engineering Huaqiao UniversityXiamenPeople’s Republic of China

This paper focuses on the trajectory tracking of quadrotors under bounded external *** optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references quickly. At first, nonsingular fast terminal slidingmode control is developed, which can guarantee not only the stability but also finite-timeconvergence of the closed-loop system. As the parameters of the designed controllers playa vital role for control performance, an improved beetle antennae search algorithm is proposedto optimise them. By employing the historical information of the beetle’s antennaeand dynamically updating the step size as well as the range of its searching, the optimisingis accelerated considerably to ensure the efficiency of the quadrotor control. The superiorityof the proposed control scheme is demonstrated by simulation experiments, from whichone can see that both the error and the overshooting of the trajectory tracking are reducedeffectively.

关键词： quadrotor control trajectory tracking nonsingular fast terminal sliding mode control optimisation improved beetle antennae search algorithm

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

A PID Gain Adjustment Scheme Based on Reinforcement Learning Algorithm for a quadrotor

A PID Gain Adjustment Scheme Based on Reinforcement Learning...

引用

第三十九届中国控制会议

作者： Zheng Qingqing Tang Renjie Gou Siyuan Zhang Weizhong School of Aerospace Engineering Beijing Institute of Technology

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.

关键词： quadrotor control PID controller Reinforcement learning PPO algorithm

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：