Centrala begrepp
Adaptive gain scheduling using reinforcement learning significantly improves quadcopter control performance.
Sammanfattning
I. Introduction
Reinforcement learning applied to quadcopter controller gains.
Quadcopter dynamics require quick controller response.
RL algorithms optimize cascaded feedback controller gains.
II. Related Work
Actor-critic method enhances PID controller tuning.
RL methods improve wind turbine speed regulation.
PPO algorithm tunes PID controllers effectively.
III. Environment
Markov Decision Process representation in Gymnasium API.
Agent, transitions, action space, state space, and reward components defined.
Base controller architecture and agent parameters detailed.
IV. Method
Proximal Policy Optimization (PPO) used for gain optimization.
PPO combines A2C and TRPO ideas for efficient learning.
V. Results
A. Training
Training progress monitored with success, deviation, and time-out metrics.
Entropy loss decreases while explained variance converges.
B. Evaluation
RL controller outperforms baseline in tracking performance by 40%.
State trajectories comparison shows RL controller's superior tracking ability.
VI. Conclusion
Adaptive gain scheduling through RL achieves significant tracking improvement.
Future work includes expanding to 6 degrees of freedom quadcopters and stability guarantees testing.
Statistik
RLポリシーは、トレーニング中により多くの報酬を収集するように訓練されます。
トレーニングプロセス中に複数の値が記録されます。
RLポリシーは、トレーニング中に報酬を蓄積します。