Attitude synchronization for multiple quadrotors using reinforcement learning

Hao Liu, Wanbing Zhao, Frank L. Lewis, Zhong Ping Jiang, Hamidreza Modares

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a reinforcement learning based control law is proposed to solve the attitude synchronization problem of the leader-following multi-quadrotor systems. The overall system is composed of a team of quadrotors, modeled with highly nonlinear and coupled dynamics. An optimal control solution is obtained by solving an augmented Hamilton-Jacobi-Bellman equation. A reinforcement learning approach is used to learn the optimal control law. Simulation results are provided to verify the effectiveness of the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the 38th Chinese Control Conference, CCC 2019
EditorsMinyue Fu, Jian Sun
PublisherIEEE Computer Society
Pages2480-2483
Number of pages4
ISBN (Electronic)9789881563972
DOIs
StatePublished - Jul 2019
Event38th Chinese Control Conference, CCC 2019 - Guangzhou, China
Duration: Jul 27 2019Jul 30 2019

Publication series

NameChinese Control Conference, CCC
Volume2019-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference38th Chinese Control Conference, CCC 2019
CountryChina
CityGuangzhou
Period7/27/197/30/19

Fingerprint

Reinforcement learning
Reinforcement Learning
Synchronization
Optimal Control
Hamilton-Jacobi-Bellman Equation
Verify
Controller
Controllers
Simulation

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Liu, H., Zhao, W., Lewis, F. L., Jiang, Z. P., & Modares, H. (2019). Attitude synchronization for multiple quadrotors using reinforcement learning. In M. Fu, & J. Sun (Eds.), Proceedings of the 38th Chinese Control Conference, CCC 2019 (pp. 2480-2483). [8865177] (Chinese Control Conference, CCC; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2019.8865177

Attitude synchronization for multiple quadrotors using reinforcement learning. / Liu, Hao; Zhao, Wanbing; Lewis, Frank L.; Jiang, Zhong Ping; Modares, Hamidreza.

Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. p. 2480-2483 8865177 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Liu, H, Zhao, W, Lewis, FL, Jiang, ZP & Modares, H 2019, Attitude synchronization for multiple quadrotors using reinforcement learning. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8865177, Chinese Control Conference, CCC, vol. 2019-July, IEEE Computer Society, pp. 2480-2483, 38th Chinese Control Conference, CCC 2019, Guangzhou, China, 7/27/19. https://doi.org/10.23919/ChiCC.2019.8865177
Liu H, Zhao W, Lewis FL, Jiang ZP, Modares H. Attitude synchronization for multiple quadrotors using reinforcement learning. In Fu M, Sun J, editors, Proceedings of the 38th Chinese Control Conference, CCC 2019. IEEE Computer Society. 2019. p. 2480-2483. 8865177. (Chinese Control Conference, CCC). https://doi.org/10.23919/ChiCC.2019.8865177
Liu, Hao ; Zhao, Wanbing ; Lewis, Frank L. ; Jiang, Zhong Ping ; Modares, Hamidreza. / Attitude synchronization for multiple quadrotors using reinforcement learning. Proceedings of the 38th Chinese Control Conference, CCC 2019. editor / Minyue Fu ; Jian Sun. IEEE Computer Society, 2019. pp. 2480-2483 (Chinese Control Conference, CCC).
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