Abstract
The development of an optimal controller for stabilization of a quadrotor system using an adaptive critic structure based on policy iteration schemes is proposed in this paper. This approach is inserted in the context of Approximate Dynamic Programming and it is used to solve optimal decision problems on-line, without requiring complete knowledge of the system dynamics model to be controlled. The main feature of the adaptive critic design method that allows for on-line implementation is that it solves the Bellman optimality equation in a forward-in-time fashion, whereas traditional dynamic programming requires a backward-in-time procedure. This feedback control design technique is able to tune the controller parameters on-line in the presence of variations in plant dynamics and external disturbances using data measured along the system trajectories. Computational simulation results based on a quadrotor model demonstrate the effectiveness of the proposed control scheme.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
