Design of Attitude and Path Tracking Controllers for Quad-Rotor Robots using Reinforcement Learning. Sérgio Ronaldo Barros dos Santos Cairo Lúcio Nascimento Júnior Instituto Tecnológico de Aeronáutica (ITA) Brazil Sidney Nascimento Givigi Júnior Royal Military College of Canada (RMCC)
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Sérgio Ronaldo Barros dos Santos
Cairo Lúcio Nascimento Júnior
Instituto Tecnológico de Aeronáutica (ITA)
Brazil
Sidney Nascimento Givigi Júnior
Royal Military College of Canada (RMCC)
Canada
All rotational and translational movements of a quad-rotor can be achieved by adjusting its rotor speeds.
- Nonlinear PID Control, - Backstepping technique
- Sliding Model Control.
The element of the probability vector associated with the selected controller parameter is adjusted:
The probability vector is then normalized.