Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

doi:10.1109/JAS.2024.124317

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	Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints
	Qian Ma; Peng Jin; Frank L. Lewis
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:6 页码:1447-1457
摘要	In this paper, guaranteed cost attitude tracking control for uncertain quadrotor unmanned aerial vehicle (QUAV) under safety constraints is studied. First, an augmented system is constructed by the tracking error system and reference system. This transformation aims to convert the tracking control problem into a stabilization control problem. Then, control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances, and they are incorporated into the reward function as penalty items. Based on the modified reward function, the problem is simplified as the optimal regulation problem of the nominal augmented system, and a new Hamilton-Jacobi-Bellman equation is developed. Finally, critic-only reinforcement learning algorithm with a concurrent learning technique is employed to solve the Hamilton-Jacobi-Bellman equation and obtain the optimal controller. The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances, but also enforce safety constraints. The performance of the algorithm is evaluated by the numerical simulation.
关键词	Attitude tracking control quadrotor unmanned aerial vehicle (QUAV) reinforcement learning safety constraints uncertain disturbances
DOI	10.1109/JAS.2024.124317
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/56461
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Qian Ma,Peng Jin,Frank L. Lewis. Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(6):1447-1457.
APA	Qian Ma,Peng Jin,&Frank L. Lewis.(2024).Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints.IEEE/CAA Journal of Automatica Sinica,11(6),1447-1457.
MLA	Qian Ma,et al."Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints".IEEE/CAA Journal of Automatica Sinica 11.6(2024):1447-1457.

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