Reinforcement Learning-based Quadcopter Control
نویسنده
چکیده
Analysis of quadcopter dynamics and control is conducted. A linearized quadcopter system is controlled using modern techniques. A MATLAB quadcopter control toolbox is presented for rapid visualization of system response. Waypoint-based trajectory control of a quadcopter is performed and appended to the MATLAB toolbox. Finally, an investigation of control using reinforcement learning is conducted.
منابع مشابه
Model-Based Reinforcement Learning in Continuous Environments Using Real-Time Constrained Optimization
Reinforcement learning for robot control tasks in continuous environments is a challenging problem due to the dimensionality of the state and action spaces, time and resource costs for learning with a real robot as well as constraints imposed for its safe operation. In this paper we propose a modelbased reinforcement learning approach for continuous environments with constraints. The approach c...
متن کاملReinforcement Learning Based PID Control of Wind Energy Conversion Systems
In this paper an adaptive PID controller for Wind Energy Conversion Systems (WECS) has been developed. Theadaptation technique applied to this controller is based on Reinforcement Learning (RL) theory. Nonlinearcharacteristics of wind variations as plant input, wind turbine structure and generator operational behaviordemand for high quality adaptive controller to ensure both robust stability an...
متن کاملReinforcement learning based feedback control of tumor growth by limiting maximum chemo-drug dose using fuzzy logic
In this paper, a model-free reinforcement learning-based controller is designed to extract a treatment protocol because the design of a model-based controller is complex due to the highly nonlinear dynamics of cancer. The Q-learning algorithm is used to develop an optimal controller for cancer chemotherapy drug dosing. In the Q-learning algorithm, each entry of the Q-table is updated using data...
متن کاملDeep Learning Quadcopter Control via Risk-Aware Active Learning
Modern optimization-based approaches to control increasingly allow automatic generation of complex behavior from only a model and an objective. Recent years has seen growing interest in fast solvers to also allow real-time operation on robots, but the computational cost of such trajectory optimization remains prohibitive for many applications. In this paper we examine a novel deep neural networ...
متن کاملDevelopment of a Low-Cost Experimental Quadcopter Testbed Using an Arduino Controller and Software
Abstract This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based frameworks. Here, quadcopter dynamics are explored through the classical nonlinear equations of motion. Next, quadcopter is designed, built and assembled ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015