scholarly journals Single-Parameter-Tuned Attitude Control for Quadrotor with Unknown Disturbance

2020 ◽  
Vol 10 (16) ◽  
pp. 5564 ◽  
Author(s):  
Dada Hu ◽  
Zhongcai Pei ◽  
Zhiyong Tang
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Learning Algorithm ◽  
Attitude Control System ◽  
Model Free ◽  
Covariance Matrix Adaptation ◽  
State Observers ◽  
Reward Shaping ◽  
Policy Gradient ◽  
Unknown Disturbance

In this paper, methods are presented for designing a quadrotor attitude control system with disturbance rejection ability, wherein only one parameter needs to be tuned for each axis. The core difference between quadrotor platforms are extracted as critical gain parameters (CGPs). Reinforcement learning (RL) technology is introduced in order to automatically optimize the controlling law for quadrotors with different CGPs, and the CGPs are used to extend the RL state list. A deterministic policy gradient (DPG) algorithm that is based on an actor-critic structure in a model-free style is used as the learning algorithm. Mirror sampling and reward shaping methods are designed in order to eliminate the steady-state errors of the RL controller and accelerate the training process. Active disturbance rejection control (ADRC) is applied to reject unknown external disturbances. A set of extended state observers (ESOs) is designed to estimate the total disturbance to the roll and pitch axes. The covariance matrix adaptation evolution strategy (CMA-ES) algorithm is used to automatically tune the ESO parameters and improve the final performance. The complete controller is tested on an F550 quadrotor in both simulation and real flight environments. The quadrotor can hover and move around stably and accurately in the air, even with a severe disturbance.

Research on Attitude Control of Spacecraft Based on ADRC

2011 ◽  
Vol 383-390 ◽  
pp. 358-365 ◽  
Author(s):  
Fu Lin Teng ◽  
Hong Yu Ge ◽  
Hong Sheng Li ◽  
Jian Hua Zhang
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
High Performance ◽  
Control Technology ◽  
Attitude Control System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation And Experiment ◽  
Attitude Controller ◽  
Very High

Modern spacecraft demands from an attitude control system very high performance and accuracy, and many new features, such as disturbance rejection capability. The recently developed active disturbance rejection control technology is applied to the attitude control of spacecraft subject to disturbances and parametric uncertainties. Simulation and experiment show significant advantages of the proposed attitude controller over the controller resulting from conventional PID approach.

Comparison between H2 and H∞ Optimal Control Solutions for a Combined Energy and Attitude Control System

2012 ◽  
Vol 225 ◽  
pp. 464-469 ◽  
Author(s):  
Ban Ying Siang ◽  
Renuganth Varatharajoo
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Pid Control ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Proportional Integral Derivative ◽  
Attitude Control System ◽  
Control Option ◽  
Optimal Control Methods

The paper focuses on applying optimal control solutions to combined energy storage and attitude control system (CEACS) under different reference missions. In previous researches, the proportional-integral-derivative (PID) control method, the PID-active force control method and H2 control were tested for CEACS and achieved its mission requirement. However, problems such as the in-orbit system uncertainties affect the PID control performances. Thus, two optimal control methods, H2 and H∞ controls are proposed and tested on CEACS under different mission scenarios to improve its pitch attitude accuracy. Results show that both H2 and H∞ are able to achieve the reference mission requirement even under the influence of uncertainties (non-ideal). Moreover comparison between H2 and H∞ shows the H2 is a better control option for CEACS in terms of disturbance rejection.

Simple model-free attitude control design for flexible spacecraft with prescribed performance

2018 ◽  
Vol 233 (8) ◽  
pp. 2760-2771 ◽  
Author(s):  
Chao Zhang ◽  
Guangfu Ma ◽  
Yanchao Sun ◽  
Chuanjiang Li
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Control Design ◽  
Relevant Information ◽  
Tracking Accuracy ◽  
Attitude Control System ◽  
Prescribed Performance ◽  
Control Approach ◽  
Model Free ◽  
Flexible Vibrations

In this paper, a model-free attitude control approach is proposed for the spacecraft in the presence of external disturbances and flexible vibrations with both complexity and performance concerns. By utilizing prescribed performance and backstepping techniques, the controller is constructed in a simple form without requiring any relevant information of the attitude control system dynamics. Moreover, fuzzy/neural network approximations, observers, or adaptive laws are not adopted into the control design, so that the related problems introduced by these estimation structures can be avoided. Numerical simulations in different cases show that the control system can obtain quick and smooth dynamic process and expected tracking accuracy despite the influence of disturbances and flexible vibrations, which demonstrates the effectiveness of the proposed scheme. Owing to the above good features, it is suitable for practical engineering.

Composite Disturbance Rejection Attitude Control for Quadrotor With Unknown Disturbance

2020 ◽  
Vol 67 (8) ◽  
pp. 6894-6903 ◽  
Author(s):  
Kai Zhao ◽  
Jinhui Zhang ◽  
Dailiang Ma ◽  
Yuanqing Xia
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Unknown Disturbance

scholarly journals Model-Free Attitude Control of Spacecraft Based on PID-Guide TD3 Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
ZhiBin Zhang ◽  
XinHong Li ◽  
JiPing An ◽  
WanXin Man ◽  
GuoHui Zhang
Keyword(s):  
Reinforcement Learning ◽  
High Precision ◽  
Attitude Control ◽  
Response Speed ◽  
Fast Response ◽  
Fine Tuning ◽  
Training Time ◽  
Model Free ◽  
Attitude Tracking ◽  
Policy Gradient

This paper is devoted to model-free attitude control of rigid spacecraft in the presence of control torque saturation and external disturbances. Specifically, a model-free deep reinforcement learning (DRL) controller is proposed, which can learn continuously according to the feedback of the environment and realize the high-precision attitude control of spacecraft without repeatedly adjusting the controller parameters. Considering the continuity of state space and action space, the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm based on actor-critic architecture is adopted. Compared with the Deep Deterministic Policy Gradient (DDPG) algorithm, TD3 has better performance. TD3 obtains the optimal policy by interacting with the environment without using any prior knowledge, so the learning process is time-consuming. Aiming at this problem, the PID-Guide TD3 algorithm is proposed, which can speed up the training speed and improve the convergence precision of the TD3 algorithm. Aiming at the problem that reinforcement learning (RL) is difficult to deploy in the actual environment, the pretraining/fine-tuning method is proposed for deployment, which can not only save training time and computing resources but also achieve good results quickly. The experimental results show that DRL controller can realize high-precision attitude stabilization and attitude tracking control, with fast response speed and small overshoot. The proposed PID-Guide TD3 algorithm has faster training speed and higher stability than the TD3 algorithm.

scholarly journals Training a model-free reinforcement learning controller for a 3-degree-of-freedom helicopter under multiple constraints

2019 ◽  
Vol 52 (7-8) ◽  
pp. 844-854 ◽  
Author(s):  
Shengri Xue ◽  
Zhan Li ◽  
Liu Yang
Keyword(s):  
Reinforcement Learning ◽  
Attitude Control ◽  
Degree Of Freedom ◽  
Multiple Constraints ◽  
Attitude Control System ◽  
Multiple Control ◽  
Training Environment ◽  
Design Data ◽  
Reward Function ◽  
Model Free

The purpose of the article is to design data-driven attitude controllers for a 3-degree-of-freedom experimental helicopter under multiple constraints. Controllers were updated by utilizing the reinforcement learning technique. The 3-degree-of-freedom helicopter platform is an approximation to a practical helicopter attitude control system, which includes realistic features such as complicated dynamics, coupling and uncertainties. The method in this paper first describes the training environment, which consists of user-defined constraints and performance expectations by using a reward function module. Then, actor–critic-based controllers were designed for helicopter elevation and pitch axis. Next, the policy gradient method, which is an important branch of the reinforcement learning algorithms, is utilized to train the networks and optimize controllers. Finally, from experimental results acquired by the 3-degree-of-freedom helicopter platform, the advantages of the proposed method are illustrated by satisfying multiple control constraints.

scholarly journals Robust Fault-Tolerant Control for Satellite Attitude Stabilization Based on Active Disturbance Rejection Approach with Artificial Bee Colony Algorithm

2014 ◽  
Vol 2014 ◽  
pp. 1-17
Author(s):  
Fei Song ◽  
Shiyin Qin
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Algorithm ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Attitude Control System ◽  
Bee Colony ◽  
Active Disturbance Rejection

This paper proposed a robust fault-tolerant control algorithm for satellite stabilization based on active disturbance rejection approach with artificial bee colony algorithm. The actuating mechanism of attitude control system consists of three working reaction flywheels and one spare reaction flywheel. The speed measurement of reaction flywheel is adopted for fault detection. If any reaction flywheel fault is detected, the corresponding fault flywheel is isolated and the spare reaction flywheel is activated to counteract the fault effect and ensure that the satellite is working safely and reliably. The active disturbance rejection approach is employed to design the controller, which handles input information with tracking differentiator, estimates system uncertainties with extended state observer, and generates control variables by state feedback and compensation. The designed active disturbance rejection controller is robust to both internal dynamics and external disturbances. The bandwidth parameter of extended state observer is optimized by the artificial bee colony algorithm so as to improve the performance of attitude control system. A series of simulation experiment results demonstrate the performance superiorities of the proposed robust fault-tolerant control algorithm.

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