Optimal Control of a Quadcopter in Fast Descending Maneuvers Based on Reinforcement Learning, M.Sc. Thesis Sharif University of Technology ; Fallah Rajabzadeh, Famida (Supervisor) ; Zohoor, Hassan (Supervisor) ; Nejat Pishkenari, Hossein (Co-Supervisor)
Abstract
Quadrotors have limitation in performing fast descent maneuvers due to Vortex Ring State (VRS) region which make quadrotor unstable. In order to avoid entering VRS, a velocity constraint considered which it should be satisfied during this maneuver to guarantee a safe and stable fast descending maneuver by quadrotor. The purpose of this thesis is to overcome limitation in speed space of quadrotor in order to reduce the time of fast descending maneuvers by using Reinforcement Learning Techniques. A new cascade controller proposed which using PID in inner loop as a low level controller and DDPG as one of reinforcement learning techniques in outer loop as high level controller in order to...
Cataloging briefOptimal Control of a Quadcopter in Fast Descending Maneuvers Based on Reinforcement Learning, M.Sc. Thesis Sharif University of Technology ; Fallah Rajabzadeh, Famida (Supervisor) ; Zohoor, Hassan (Supervisor) ; Nejat Pishkenari, Hossein (Co-Supervisor)
Abstract
Quadrotors have limitation in performing fast descent maneuvers due to Vortex Ring State (VRS) region which make quadrotor unstable. In order to avoid entering VRS, a velocity constraint considered which it should be satisfied during this maneuver to guarantee a safe and stable fast descending maneuver by quadrotor. The purpose of this thesis is to overcome limitation in speed space of quadrotor in order to reduce the time of fast descending maneuvers by using Reinforcement Learning Techniques. A new cascade controller proposed which using PID in inner loop as a low level controller and DDPG as one of reinforcement learning techniques in outer loop as high level controller in order to...
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