UAV Heading Control in Windy and Turbulent Conditions Using Reinforcement Learning
Journal Title: IOSR Journals (IOSR Journal of Electrical and Electronics Engineering) - Year 2018, Vol 13, Issue 1
Abstract
Due to the high non-linearity and coupling of a system model in an Unmanned Aerial Vehicle, UAV, the control of the heading has been a challenging task especially under windy and turbulent conditions. In this paper an online adaptive method using reinforcement learning is proposed to counter the effects of wind disturbances. The heading controller is designed in Matlab/Simulink for controlling a UAV in an X-Plane test platform. Through the X-Plane test platform, the performance of the designed controller is shown using real time simulations under different cross wind conditions. The performance of the proposed method is compared to that of a well tuned PID controller. The results show that the proposed method performs better in tracking a given heading angle under windy conditions.
Authors and Affiliations
Kimathi S, Kang’ethe S. , Kihato P.
Keywords
Related Articles
- EP ID EP388663
- DOI 10.9790/1676-1301032329.
- Views 113
- Downloads 0
Electric Power Consumption Reduction in the University of Nigeria, Nsukka Power Network
The paper addresses the power consumption profile of the University of Nigeria, Nsukka. The electricity bill of the institution which has existed for over fifty years is N14.4m on average which the University Administrat...
Implementation Of Classification Methods For Diagnosis Of Lung Cancer nodules In CT Images
The main aim of this work is to propose a novel Computer-aided detection (CAD) system based on a Contextual clustering combined with region growing for assisting radiologists in early identification of lung cancer from c...
Solving Economic Dispatch Problem with Valve-Point Effect using Bat Algorithm
This paper presents application of bat algorithm (BA) for solving economic dispatch (ED) problem considering valve-point effect and transmission losses. The practical ED problems have non-smooth cost function with equali...
Dynamic Reconfiguration of Analog VLSI System: A Review
Dynamic reconfigurable system came in to limelight in the current generation of VLSI design. Till now area, performance, cost and power are the priorities of design engineers overlooking the Multifunctionality of a singl...
Design of Large Scale Decentralized Low-Order Robust Control System Stabilizer to Mitigate the Damping of the System
A discrete system is a system with a countable number of states. Discrete systems may be contrasted with continuous systems, which may also be called analog systems. A final discrete system is often modeled with a direct...