1,083 research outputs found
Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement
In this paper, we present a novel solution for real-time, Non-Linear Model
Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The
proposed controller formulates the Optimal Control Problem (OCP) in terms of
flat outputs over an adaptive lattice. In common approximated OCP solutions,
the number of discretization points composing the lattice represents a critical
upper bound for real-time applications. The proposed NMPC-based technique
refines the initially uniform time horizon by adding time steps with a sampling
criterion that aims to reduce the discretization error. This enables a higher
accuracy in the initial part of the receding horizon, which is more relevant to
NMPC, while keeping bounded the number of discretization points. By combining
this feature with an efficient Least Square formulation, our solver is also
extremely time-efficient, generating trajectories of multiple seconds within
only a few milliseconds. The performance of the proposed approach has been
validated in a high fidelity simulation environment, by using an UAV platform.
We also released our implementation as open source C++ code.Comment: In: 2018 IEEE International Conference on Simulation, Modeling, and
Programming for Autonomous Robots (SIMPAR 2018
Optimal control of a helicopter unmanned aerial vehicle (UAV)
This thesis addresses optimal control of a helicopter unmanned aerial vehicle (UAV). Helicopter UAVs may be widely used for both military and civilian operations. Because these helicopters are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This thesis presents an optimal controller design via both state and output feedback for trajectory tracking of a helicopter UAV using a neural network (NN). The state and output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers while the output feedback approach uses an observer in addition to these controllers. The online approximator-based dynamic controller learns the Hamilton-Jacobi-Bellman (HJB) equation in continuous time and calculates the corresponding optimal control input to minimize the HJB equation forward-in-time. Optimal tracking is accomplished with a single NN utilized for cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking. A description of the hardware for confirming the theoretical approach, and a discussion of material pertaining to the algorithms used and methods employed specific to the hardware implementation is also included. Additional attention is devoted to challenges in implementation as well as to opportunities for further research in this field. This thesis is presented in the form of two papers --Abstract, page iv
Autonomous Vehicles
This edited volume, Autonomous Vehicles, is a collection of reviewed and relevant research chapters, offering a comprehensive overview of recent developments in the field of vehicle autonomy. The book comprises nine chapters authored by various researchers and edited by an expert active in the field of study. All chapters are complete in itself but united under a common research study topic. This publication aims to provide a thorough overview of the latest research efforts by international authors, open new possible research paths for further novel developments, and to inspire the younger generations into pursuing relevant academic studies and professional careers within the autonomous vehicle field
Reinforcement Learning for UAV Attitude Control
Autopilot systems are typically composed of an "inner loop" providing
stability and control, while an "outer loop" is responsible for mission-level
objectives, e.g. way-point navigation. Autopilot systems for UAVs are
predominately implemented using Proportional, Integral Derivative (PID) control
systems, which have demonstrated exceptional performance in stable
environments. However more sophisticated control is required to operate in
unpredictable, and harsh environments. Intelligent flight control systems is an
active area of research addressing limitations of PID control most recently
through the use of reinforcement learning (RL) which has had success in other
applications such as robotics. However previous work has focused primarily on
using RL at the mission-level controller. In this work, we investigate the
performance and accuracy of the inner control loop providing attitude control
when using intelligent flight control systems trained with the state-of-the-art
RL algorithms, Deep Deterministic Gradient Policy (DDGP), Trust Region Policy
Optimization (TRPO) and Proximal Policy Optimization (PPO). To investigate
these unknowns we first developed an open-source high-fidelity simulation
environment to train a flight controller attitude control of a quadrotor
through RL. We then use our environment to compare their performance to that of
a PID controller to identify if using RL is appropriate in high-precision,
time-critical flight control.Comment: 13 pages, 9 figure
Online optimisation-based backstepping control design with application to quadrotor
In backstepping implementation, the derivatives of virtual control signals are required at each step. This study provides a novel way to solve this problem by combining
online optimisation with backstepping design in an outer and inner loop manner. The
properties of differential flatness and the B-spline polynomial function are exploited
to transform the optimal control problem into a computationally efficient form. The
optimisation process generates not only the optimised states but also their finite order
derivatives which can be used to analytically calculate the derivatives of virtual control signal required in backstepping design. In addition, the online optimisation repeatedly performed in a receding horizon fashion can also realise local motion planning for obstacle avoidance. The stability of the receding horizon control scheme is analysed via
Lyapunov method which is guaranteed by adding a parametrised terminal condition in the online optimisation. Numerical simulations and flight experiments of a quadrotor unmanned air vehicle are given to demonstrate the effectiveness of the proposed composite control method
- …