Three-Dimensional Path-Following Control of a Robotic Airship with Reinforcement Learning

摘要

This paper proposed an adaptive three-dimensional (3D) path-following control design for a robotic airship based on reinforcement learning. The airship 3D path-following control is decomposed into the altitude control and the planar path-following control, and the Markov decision process (MDP) models of the control problems are established, in which the scale of the state space is reduced by parameter simplification and coordinate transformation. To ensure the control adaptability without dependence on an accurate airship dynamic model, a <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mi>Q</mml:mi></mml:math>-Learning algorithm is directly adopted for learning the action policy of actuator commands, and the controller is trained online based on actual motion. A cerebellar model articulation controller (CMAC) neural network is employed for experience generalization to accelerate the training process. Simulation results demonstrate that the proposed controllers can achieve comparable performance to the well-tuned proportion integral differential (PID) controllers and have a more intelligent decision-making ability.