Quadcopter control comparison between PD and RL approach

Peiran Liu

doi:10.1117/12.2631179

18 March 2022 Quadcopter control comparison between PD and RL approach

Peiran Liu

Proceedings Volume 12168, International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2021); 1216807 (2022) https://doi.org/10.1117/12.2631179
Event: International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2021), 2021, Harbin, China

Abstract

This paper contains four major concepts about the quadcopter. Firstly, I drive dynamics analysis of the quadcopter. Mainly, apply force analysis with Newton and Euler’s method on the quadcopter. Then, applying first order ODE and second order ODE conduct formulas to obtain velocity and location expression. This part also helps to construct the computer simulation. Secondly, this paper introduces a commonly used quadcopter control technique-PD control. PD control stands for proportional-derivate control. It’s a control method that measured the desired position and actual position then outputs control commands. Third, the paper illustrates how machine learning algorithms can be applied to the control of the quadcopter. The machine learning algorithm used in this paper is the deep deterministic policy gradient (DDPG). Finally, I designed three tasks for experimental purpose. These tasks include flying directly upward from the ground, flying in x-direction, and flying in all three directions at the same time. Then, evaluating how does each control method works through these experiments.

Citation Download Citation

Peiran Liu "Quadcopter control comparison between PD and RL approach", Proc. SPIE 12168, International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2021), 1216807 (18 March 2022); https://doi.org/10.1117/12.2631179

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