ABSTRACT
Multicopters continue to gain their applications in the real world and their control problem has attracted a great number of studies. Among several control techniques, the proportional-integral-derivative control method appears to play important roles in seeking a simple and efficient controller for a complex system like a multicopter. However, the gain tuning process of a proportional-integral-derivative controller is still a time-consuming task and, therefore, finding an automatic gain tuning method which saves time and ensures satisfactory control performance has become one of the most important efforts that researchers all around the world are nowadays undertaking. In this paper, we present a proportional-integral-derivative controller gain auto-tuning method using the reinforcement learning neural networks. Software and hardware-in-the-loop simulations were carried out to demonstrate the effectiveness of the proposed method.
- Xuan-Mung, N.; Hong, S. K. Improve Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles, Applied Sciences, vol. 9, 2122. 2019.Google Scholar
- Pounds, P.E.I.; Bersak, D.R.; Dollar, A.M. Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control. Auton Robot., vol. 33, pp. 129--142, 2012.Google ScholarDigital Library
- Salih, A.L.; Moghavvemi, M.; Mohamed, H.A.F.; Gaeid, K.F. "Modelling and PID controller design for a quadrotor unmanned air vehicle," in Proc. AQTR '10, May 2010, pp. 1--5.Google Scholar
- Li, J.; Li, Y., "Dynamic analysis and PID control for a quadrotor," in Proc. IEEE International Conference on Mechatronics and Automation, 7-10 Aug. 2011.Google Scholar
- Ahmed, A.H.; Ouda, A.N.; Kamel, A.M.; Elhalwagy, Y.Z., "Attitude stabilization and altitude control of quadrotor," in Proc. ICENCO, 28-29 Dec. 2016, pp. 578.Google Scholar
- Khan, H.S.; Kadri, M.B., "Attitude and altitude control of quadrotor by discrete PID control and non-linear model Predictive control," in Proc. ICICT, 12-13 December 2015.Google Scholar
- Nguyen, N.P.; Hong, S.K, "Position control of a hummingbird quadcopter augmented by gain scheduling," Int. J. Eng. Res. Technol, Vol. 11, pp. 1485--1498, Nov. 2018.Google Scholar
- Xuan-Mung, N.; Hong, S.K, "A Multicopter ground testbed for the evaluation of attitude and position controller," Int. J. Eng. Technol. Vol. 7, pp. 65--73, Jul. 2018.Google Scholar
- Xuan-Mung, N.; Hong, S.K, "Robust Adaptive Formation Flight Control of Quadcopters based," Leader-Follower Approach. International Journal of Advanced Robotic System, Vol. 16, pp. 1--11, Jul. 2019.Google Scholar
- (2019) The ROS (Robot operation system) website. [Online]. Available: https://www.ros.org/.Google Scholar
- L.P.Kaelbling, M.L.Littman, A.W.Moore, "Reinforcement Learning: A Survey.", vol. 4, pp. 237--285, May. 1996.Google Scholar
- Tommi Jaakkola, "Reinforcement Learning Algorithm for Partially Observable Markov Decision Problems," in NIPS'94, 1994,p.345--352.Google Scholar
- Volodtmyr Mnih. "Playing Atari with Deep Reinforcement Learning," in NIPS Deep Learning Workshop 2013, 2013, vol. abs/1312.5602.Google Scholar
- (2019) The Keras website. [Online]. Available: https://keras.io/.Google Scholar
- (2019) The MAVROS website. [Online]. Available: http://wiki.ros.org/mavros.Google Scholar
- (2019) The Rospy website. [Online]. Available: http://wiki.ros.org/rospy.Google Scholar
- (2019) The TX2 website. [Online]. Available: https://www.nvidia.com/.Google Scholar
Index Terms
- Multicopter PID Attitude Controller Gain Auto-tuning through Reinforcement Learning Neural Networks
Recommendations
Use of neural networks for quick and accurate auto-tuning of PID controller
With reference to a real industrial application of process control, some considerations are discussed concerning the accuracy of methods for auto-tuning of proportional, integral and derivative factor (PID). In particular, a theoretical-experimental ...
PID auto-tuning for simultaneously fulfilling the requirements of relative stability and steady-state error
AbstractProportional-integral-derivative (PID) control is commonly used in industrial automatic control systems. However, it is not straightforward to determine control gains in a PID controller for satisfactory closed-loop performance. Many research ...
Neural Networks Based PID Control of Bidirectional Inductive Power Transfer System
Inductive power transfer (IPT) systems facilitate contactless power transfer between two sides and across an air-gap, through weak magnetic coupling. However, IPT systems constitute a high order resonant circuit and, as such, are difficult to design and ...
Comments