Reinforcement learning nonlinear attitude control method for quadrotor UAV
A four-rotor unmanned aerial vehicle, reinforcement learning technology, applied in attitude control, non-electric variable control, vehicle position/route/height control, etc., can solve the problem of insufficient generalization ability of the controller, achieve precise control, improve The effect of robustness
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[0084] The technical scheme adopted by the present invention is: establish a kind of quadrotor unmanned aerial vehicle dynamics model including the unmodeled part of the system, and design the corresponding reinforcement learning nonlinear attitude controller, including the following steps:
[0085] First, a dynamic model of the quadrotor UAV needs to be established. figure 1 It is a schematic diagram of the quadrotor UAV system used in this paper. In the present invention, the unmanned aerial vehicle is an X-shaped four-rotor unmanned aerial vehicle, and adopts the Newton-Euler method to establish the dynamic model of the four-rotor unmanned aerial vehicle, and the expression is as follows:
[0086]
[0087] The variables in formula (1) are defined as follows: M(η) represents the inertia matrix, represents the Coriolis and centrifugal force matrices, Represents the rotational damping coefficient matrix, where K 1 、K 2 and K 3 are all unknown constants. Δ(η) repre...
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