Reinforcement Learning Adaptive Control Method for Small Unmanned Helicopter

Abstract

The invention relates to the nonlinear control of a small unmanned helicopter, and aims to propose an adaptive control method based on reinforcement learning, so as to realize that the small helicopter can still maintain a stable flight attitude when the small helicopter has system parameter uncertainty and external disturbances. For this reason, the technical scheme that the present invention adopts is that the reinforcement learning adaptive control method of the small unmanned helicopter is based on the reinforcement learning adaptive control algorithm, combined with the evaluation network execution network architecture, used for the small unmanned helicopter In attitude system control, comprise the following steps: step 1) determine the coordinate system definition of small unmanned helicopter; Step 2) determine the attitude dynamic model of small unmanned helicopter; Step 3) define attitude angle tracking error and sort out dynamic error model; Step 4) Control law design. The invention is mainly applied to nonlinear control occasions of small unmanned helicopters.

Description

technical field [0001] The invention relates to a nonlinear control method for a small unmanned helicopter, in particular to an adaptive control method for a small unmanned helicopter based on reinforcement learning. Specifically, it involves reinforcement learning adaptive control methods for small unmanned helicopters. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an aircraft system equipped with necessary data processing units, sensors, automatic controllers and communication equipment, which can perform pre-set flight tasks under remote control or autonomous control. . Unmanned helicopters can do: 1) can take off and land vertically, can hover at a fixed point, and can turn in place in the air; 2) can maneuver near the ground; 3) take off and land without a dedicated runway; 4) if the helicopter is in the air In the event of a failure, it can use its own rotor characteristics to rotate and slide down, and finally land safely. It plays an important rol...

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Problems solved by technology

This method verifies the effectiveness of the controller through numerical simulation, but this linear control method is based on the analysis and design of the approximate linearization near the operating point of the unmanned helicopter. It can only stabilize the system near the equilibrium point, so it cannot Avoid limiting the scope of application of the controller (Journal: IEEE Transactions on Industrial Electronics; Authors: Liu H, Lu G, Zhong Y; Date of publication: 2013; Article title: Robust LQRAttitude Control of a 3-DOF Laboratory Helicopter for Aggressive Maneuvers ;pages: 4627-4636)

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