Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs

Jianan Wang; Kaidan Li; Kewei Xia

doi:10.1007/978-981-19-6613-2_291

Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs

Jianan Wang, Kaidan Li, Kewei Xia^*

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A distributed intelligent optimal learning strategy is investigated for the formation tracking issue of a cluster of vertical-takeoff-and-landing unmanned aerial vehicles. Specifically, for the nominal error position system, a critic reinforcement learning (RL) force command is first developed, where a data-driven based update law is introduced. Then, a dynamics identifier is exploited to counteract the dynamics uncertainty of each UAV. A torque command by following the same development is also applied in the attitude loop tracking. Stability analysis indicates the uniform ultimate boundedness of the closed-loop systems. Simulation example validates the proposed strategy.

Original language	English
Title of host publication	Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
Editors	Liang Yan, Haibin Duan, Yimin Deng, Liang Yan
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	3005-3014
Number of pages	10
ISBN (Print)	9789811966125
DOIs	https://doi.org/10.1007/978-981-19-6613-2_291
Publication status	Published - 2023
Event	International Conference on Guidance, Navigation and Control, ICGNC 2022 - Harbin, China Duration: 5 Aug 2022 → 7 Aug 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	845 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Guidance, Navigation and Control, ICGNC 2022
Country/Territory	China
City	Harbin
Period	5/08/22 → 7/08/22

Keywords

Distributed intelligent optimal
Formation tracking
Identifier-critic reinforcement learning
Unmanned aerial vehicle (UAV)

Access to Document

10.1007/978-981-19-6613-2_291

Cite this

Wang, J., Li, K., & Xia, K. (2023). Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs. In L. Yan, H. Duan, Y. Deng, & L. Yan (Eds.), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control (pp. 3005-3014). (Lecture Notes in Electrical Engineering; Vol. 845 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-6613-2_291

Wang, Jianan ; Li, Kaidan ; Xia, Kewei. / Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs. Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. editor / Liang Yan ; Haibin Duan ; Yimin Deng ; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. pp. 3005-3014 (Lecture Notes in Electrical Engineering).

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abstract = "A distributed intelligent optimal learning strategy is investigated for the formation tracking issue of a cluster of vertical-takeoff-and-landing unmanned aerial vehicles. Specifically, for the nominal error position system, a critic reinforcement learning (RL) force command is first developed, where a data-driven based update law is introduced. Then, a dynamics identifier is exploited to counteract the dynamics uncertainty of each UAV. A torque command by following the same development is also applied in the attitude loop tracking. Stability analysis indicates the uniform ultimate boundedness of the closed-loop systems. Simulation example validates the proposed strategy.",

keywords = "Distributed intelligent optimal, Formation tracking, Identifier-critic reinforcement learning, Unmanned aerial vehicle (UAV)",

author = "Jianan Wang and Kaidan Li and Kewei Xia",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",

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Wang, J, Li, K & Xia, K 2023, Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs. in L Yan, H Duan, Y Deng & L Yan (eds), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, vol. 845 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 3005-3014, International Conference on Guidance, Navigation and Control, ICGNC 2022, Harbin, China, 5/08/22. https://doi.org/10.1007/978-981-19-6613-2_291

Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs. / Wang, Jianan; Li, Kaidan; Xia, Kewei.
Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. ed. / Liang Yan; Haibin Duan; Yimin Deng; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. p. 3005-3014 (Lecture Notes in Electrical Engineering; Vol. 845 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - A distributed intelligent optimal learning strategy is investigated for the formation tracking issue of a cluster of vertical-takeoff-and-landing unmanned aerial vehicles. Specifically, for the nominal error position system, a critic reinforcement learning (RL) force command is first developed, where a data-driven based update law is introduced. Then, a dynamics identifier is exploited to counteract the dynamics uncertainty of each UAV. A torque command by following the same development is also applied in the attitude loop tracking. Stability analysis indicates the uniform ultimate boundedness of the closed-loop systems. Simulation example validates the proposed strategy.

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Wang J, Li K, Xia K. Intelligent Optimal Learning Control for Cooperative Formation Tracking of VTOL UAVs. In Yan L, Duan H, Deng Y, Yan L, editors, Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 3005-3014. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-6613-2_291