NDLI: Learning linear parameter-varying control of small-scale helicopter using episodic natural actor-critic method

Content Provider	IEEE Xplore Digital Library
Author	Zhou Fang Chuanchuan Hao Ping Li
Copyright Year	2012
Description	Author affiliation: School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China (Zhou Fang; Chuanchuan Hao; Ping Li)
Abstract	In this paper, we present the application of episodic natural actor-critic (eNAC) method to learn an LPV controller for the longitudinal motion of a small-scale helicopter. Rewards are online constructed using the quadratic error between the real output and desired output from reference model. The control law is given in a gain-scheduled PID form to accommodate nonlinear longitudinal dynamics. Natural gradients are computed while interacting with the environment, and scaling technique is applied to the gradient components associated with the scheduling parameters to improve the convergence rate of the learning process. To handle the partial observability of the small helicopter's dynamics, notch filter is connected in tandem to the longitudinal cyclic in advance. When performing cruise flight in nonlinear simulation, the learned LPV controller shows better performance in the respect of reference tracking, compared to the conventional PID controller, demonstrating the effectiveness of our method.
Starting Page	1001
Ending Page	1005
File Size	160093
Page Count	5
File Format	PDF
ISBN	9781467318716
e-ISBN	9781467318723
e-ISBN	9781467318709
DOI	10.1109/ICARCV.2012.6485294
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Helicopters State feedback Convergence Scheduling Nonlinear dynamical systems Learning (artificial intelligence) LPV control reinforcement learning Natural actor-critic flight control helicopter
Content Type	Text
Resource Type	Article

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