Aiming at the problems of difficult implementation and poor robustness of quadrotor UAV attitude control in unknown environment, an intelligent attitude control method based on deep deterministic strategy (DDPG) algorithm is proposed. Firstly, based on the Euler-Poincare equation, the dynamic model of the quadrotor is established by computer symbolic derivation. Secondly, the attitude controller of the quadcopter is designed based on the DDPG algorithm, and the attitude error, attitude angular velocity error and control law penalty items are introduced into the reward function design. Finally, the performance of the controller is verified by setting different initial state values, changing the structural parameters of the quadcopter, and introducing noise. The simulation results show that the controller can guide the quadrotor to respond quickly to the desired attitude and maintain stability, and also show good generalization ability.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Quadcopter UAV attitude control based on DDPG


    Beteiligte:
    HUANG Xijie (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    An Intelligent Attitude Control Method for UAV Based on DDPG Algorithm

    Xian, Yuewei / Wang, Peng / Xin, Hongbo et al. | IEEE | 2023


    Bounded Gradient Attitude Control of a Quadcopter

    G, Jesse Kyle G. / Diaz-Tellez, J. / Estevez-Carreon, J. et al. | IEEE | 2022


    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, Jian / Bierling, Thomas / Achtelik, Michael et al. | AIAA | 2011


    Altitude and attitude cascade controller for a smartphone-based quadcopter

    Astudillo, Alejandro / Munoz, Pedro / Alvarez, Fredy et al. | IEEE | 2017


    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, J. / Bierling, T. / Achtelik, M. et al. | British Library Conference Proceedings | 2011