Fine-Tuning Quadcopter Control Parameters via Deep Actor-Critic Learning Framework: An Exploration of Nonlinear Stability Analysis and Intelligent Gain Tuning

Fine-Tuning Quadcopter Control Parameters via Deep Actor-Critic Learning Framework: An Exploration of Nonlinear Stability Analysis and Intelligent Gain Tuning

Quadcopters have underactuated, nonlinear, and coupled dynamics, making their control a challenging endeavor. However, PID controllers have exhibited remarkable performance for such systems in a variety of circumstances, including obstacle avoidance, trajectory tracking, and route planning. The oute...

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Bibliographic Details
Main Authors: Hassan Moin, Umer Hameed Shah, Muhammad Jawad Khan, Hasan Sajid
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Quadcopter
Euler-Lagrange equation
nonlinear PID control
Lyapunov stability
reinforcement learning
intelligent systems
Online Access:https://ieeexplore.ieee.org/document/10757379/
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