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Learning-based attitude tracking control with high-performance parameter estimation
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Dong, Hongyang, Zhao, Xiaowei, Hu, Qinglei, Yang, Haoyang and Qi, Pengyuan (2022) Learning-based attitude tracking control with high-performance parameter estimation. IEEE Transactions on Aerospace and Electronic Systems, 58 (3). pp. 2218-2230. doi:10.1109/TAES.2021.3130537 ISSN 0018-9251.
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WRAP-Learning-based-attitude-tracking-control-high-performance- parameter- estimation-2021.pdf - Accepted Version - Requires a PDF viewer. Download (4Mb) | Preview |
Official URL: https://doi.org/10.1109/TAES.2021.3130537
Abstract
This paper aims to handle the optimal attitude tracking control tasks for rigid bodies via a reinforcement learning-based control scheme, in which a constrained parameter estimator is designed to compensate system uncertainties accurately. This estimator guarantees the exponential convergence of estimation errors and can strictly keep all instant estimates always within pre-determined bounds. Based on it, a critic-only adaptive dynamic programming (ADP) control strategy is proposed to learn the optimal control policy with respect to a user-defined cost function. The matching condition on reference control signals, which is commonly employed in relevant ADP design, is not required in the proposed control scheme. We prove the uniform ultimate boundedness of the tracking errors and critic weight's estimation errors under finite excitation conditions by Lyapunov-based analysis. Moreover, an easy-to-implement initial control policy is designed to trigger the real-time learning process. The effectiveness and advantages of the proposed method are verified by both numerical simulations and hardware-in-loop experimental tests.
Item Type: | Journal Article | ||||||||
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Subjects: | Q Science > QA Mathematics T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||
Library of Congress Subject Headings (LCSH): | Flight control, Adaptive control systems, Parameter estimation, Dynamic programming, Intelligent control systems | ||||||||
Journal or Publication Title: | IEEE Transactions on Aerospace and Electronic Systems | ||||||||
Publisher: | IEEE | ||||||||
ISSN: | 0018-9251 | ||||||||
Official Date: | June 2022 | ||||||||
Dates: |
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Volume: | 58 | ||||||||
Number: | 3 | ||||||||
Page Range: | pp. 2218-2230 | ||||||||
DOI: | 10.1109/TAES.2021.3130537 | ||||||||
Status: | Peer Reviewed | ||||||||
Publication Status: | Published | ||||||||
Reuse Statement (publisher, data, author rights): | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||
Copyright Holders: | IEEE | ||||||||
Date of first compliant deposit: | 27 November 2021 | ||||||||
Date of first compliant Open Access: | 1 December 2021 | ||||||||
RIOXX Funder/Project Grant: |
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