Abstract
A new control structure is proposed to solve the problem of the attitude stabilization of a tilt trirotor unmanned aerial vehicle (UAV) with the effects of the modeling uncertainties and external disturbances. An actor-critic (AC) networks structure is introduced to deal with the modeling uncertainties of the tilt trirotor UAV. To restrain the external disturbances, the sliding mode controller (SMC) is utilized. Then the stability analysis is included based on Lyapunov methodology to verify the fact that the attitude states converge to the equilibrium points asymptotically. In the final part, numerical simulation is conducted and the performance of the control structure is validated.
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Xie, T., Xian, B. (2022). Reinforcement Learning Based Robust Attitude Control of a Tilt Trirotor Unmanned Aerial Vehicle. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_108
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DOI: https://doi.org/10.1007/978-981-15-8155-7_108
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