IET Control Theory & Applications (Aug 2023)

Control of UAV quadrotor using reinforcement learning and robust controller

  • Zizuo Zhang,
  • Haiyang Yang,
  • Yuanyuan Fei,
  • Changyin Sun,
  • Yao Yu

DOI
https://doi.org/10.1049/cth2.12496
Journal volume & issue
Vol. 17, no. 12
pp. 1599 – 1610

Abstract

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Abstract The control of unmanned aerial vehicle quadrotor is challenging because of non‐linearities, 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.

Keywords