关键词: 迭代学习控制, 强化学习, 四旋翼无人机, 参数整定, 轨迹跟踪

Abstract:

In order to further improve the trajectory tracking accuracy of quadrotor in unknown environment， a control method adding an iterative learning feedforward controller to the traditional feedback control architecture was proposed. Facing the difficulty of tuning learning parameters in the process of Iterative Learning Control （ILC）， a method of tuning and optimizing learning parameters of iterative learning controllers using Reinforcement Learning （RL） was proposed. Firstly， RL was used to optimize the learning parameters of iterative learning controller， and the optimal learning parameters under the current environment and tasks were filtered out to ensure the optimal control effect of the iterative learning controller. Then， with the learning ability of iterative learning controllers， the feedforward input was optimized iteratively until the perfect tracking was achieved. Finally， in the simulation environment with random noise， experiments were carried out to compare the proposed Reinforcement Learning-Iterative Learning Control （RL-ILC） algorithm with ILC method without optimizing parameters， Sliding Mode Control （SMC） method and Proportional-Integral-Derivative （PID） control method. Experimental results show that after two iterations， the proposed algorithm has the total error reduced to 0.2% of the initial error， achieving rapid convergence. Compared with SMC method and PID control method， RL-ILC algorithm is not affected by noise and does not produce trajectory fluctuations after algorithm convergence. The results illustrate that the proposed algorithm can effectively improve the trajectory tracking task’s accuracy and robustness.

Key words: Iterative Learning Control (ILC), reinforcement learning, quadrotor, parameter tuning, trajectory tracking