cc-DRL:一个凸的组合深度增强学习飞行控制设计的morphing四旋翼飞机
IEEE transactions on cybernetics
|July 9, 2025
概括
这项研究引入了一种新的凸合组合深度强化学习 (cc-DRL) 算法,用于控制变形四旋翼. 这种方法有效地管理了复杂的飞行动态,而传统模型失败了,使得精确的轨迹跟踪和稳定.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 航空航天工程 航空航天工程
背景情况:
- 变形四旋翼机通过结构变形提供了增强的飞行性能.
- 变形四旋翼的复杂飞行动力学使得准确的数学建模非常困难.
- 现有的基于模型的控制理论不足以改变四旋翼控制.
研究的目的:
- 提出一种新的飞行控制算法,用于将四旋翼变形为具有臂长变形的四旋翼.
- 解决这些复杂系统的轨迹跟踪和态度稳定方面的挑战.
- 在没有建模的动态存在时,克服基于模型的控制的局限性.
主要方法:
- 开发了一种凸组合深度强化学习 (cc-DRL) 方法.
- 使用无模型控制技术,特别是深度强化学习 (DRL).
- 靠近政策优化 (PPO) 用于在线训练控制法律在各种手臂长度模式.
- 凸合组合 (CC) 技术将训练的控制规律集成到一个统一的方案中.
主要成果:
- 拟议的cc-DRL算法证明了飞行轨迹跟踪的有效性.
- 实现了变形四旋翼机与臂长变形的态度稳定.
- 模拟结果验证了cc-DRL方法相对于传统方法的性能和优势.
结论:
- cc-DRL算法为控制具有复杂动态的变形四旋翼提供了可行的解决方案.
- 这种无模型的方法成功克服了基于模型的控制的局限性.
- 这项研究强调了DRL与凸形组合相结合的潜力,用于先进的飞行器控制.
相关概念视频
01:26PD Controller: Design
357
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
357
01:24PI Controller: Design
507
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
507
01:24Absolute Motion Analysis- General Plane Motion
273
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
273
01:17Open and closed-loop control systems
1.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.0K
01:24One-Degree-of-Freedom System
559
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
559
01:26Feedback control systems
433
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
433