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Control of a Quadrotor With Reinforcement Learning [PDF]
IEEE Robotics and Automation Letters, 2017 In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making any predefined control structure obsolete for training. Moreover, we present a new learning algorithm which differs
Hwangbo, Jemin +3 more
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Sensors, 2022 The rotor is an essential actuator of quadrotor UAV, and is prone to failure due to high speed rotation and environmental disturbances. It is difficult to diagnose rotor faults and identify the fault localization simultaneously. In this paper, we propose
Jia Song +3 more
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CoRR, 2018 This document describes standard approaches for filtering and estimation for quadrotors, created for the Udacity Flying Cars course. We assume previous knowledge of probability and some knowledge of linear algebra. We do not assume previous knowledge of Kalman filters or Bayes filters. This document derives an EKF for various models of drones in 1D, 2D,
Stefanie Tellex +2 more
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Nihon Kikai Gakkai ronbunshu, 2017 The quadrotors are useful for periodic inspections of tunnels and bridges. However, the conventional quadrotor has a problem such that it is impossible to control the rotational motion and the translational motion independently.
Takumi FUKUDA +3 more
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Evaluation of Reinforcement and Deep Learning Algorithms in Controlling Unmanned Aerial Vehicles
Applied Sciences, 2021 Unmanned Aerial Vehicles (UAVs) are abundantly becoming a part of society, which is a trend that is expected to grow even further. The quadrotor is one of the drone technologies that is applicable in many sectors and in both military and civilian ...
Yalew Zelalem Jembre +6 more
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Analysis and Control of a Planar Quadrotor
CoRR, 2021 In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop response between the linear and non linear systems using the controller developed for the linear system. We also perform
Praveen Venkatesh +2 more
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Sensors, 2022 In this paper, a disturbance observer based on the non-singular terminal sliding mode control method was presented for the quadrotor in the presence of wind perturbation. First, the position and attitude dynamical equation of the quadrotor was introduced
Fayez F. M. El-Sousy +6 more
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Active disturbance rejection switching control of quadrotor based on robust differentiator
Systems Science & Control Engineering, 2020 To solve the problem of trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) under white noise disturbance, a new active disturbance rejection control (ADRC), an active disturbance rejection switching control (ADRSC) algorithm of the ...
Jiawei Zhao, Hongli Zhang, Xinkai Li
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Sensors, 2023 In this paper, aiming at the problem of control and obstacle avoidance in quadrotor formation when mathematical modeling is not accurate, the artificial potential field method with virtual force is used to plan the obstacle avoidance path of quadrotor ...
Hao Liu +3 more
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Flightmare: a flexible quadrotor simulator
CoRR, 2020 Accepted for publication at 4th Conference on Robot Learning (CoRL), Cambridge MA, USA ...
Song, Yunlong +4 more
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