VOOS, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Ertel, Wolfgang
Language :
English
Title :
Controller Design for Quadrotor UAVs using Reinforcement Learning
Publication date :
2010
Event name :
IEEE Multi-conference on Systems and Control
Event place :
Yokohama, Japan
Event date :
8 - 10 Sept. 2010
Audience :
International
Main work title :
IEEE Multi-conference on Systems and Control, Yokohama, Japan, 8-10 Sept. 2010
S. Bouabdallah, R. Siegwart. Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. In Proc. of the IEEE International Conference on Robotics and Automation, 2005, pp. 2247-2252.
A. Tayebi, S. McGilvray. Attitude Stabilization of a VTOL Quadrotor Aircraft. In IEEE Trans. on Control Systems Technology, 2006, Vol. 14, 2006, pp. 562 - 571.
P. Castillo, A. Dzul, R. Lozano. Real-time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Trans. on Control Systems Technology, Vol.12, No. 4, July 2004, pp. 510 - 516.
H. Voos. Nonlinear State-Dependent Riccati Equation Control of a Quadrotor UAV. In Proc. of the IEEE Conference on Control Applications, Munich, 2006.
H. Voos. Nonlinear and Neural Network-based Control of a Small Four-Rotor Aerial Robot. In Proc. of the IEEE/ASME Int. Conference on Advanced Intelligent Mechatronics, Zurich, CH, 2007.
H. Voos. Nonlinear Control of a Quadrotor Micro-UAV using Feedback-Linearization. In Proc. of the IEEE International Conference on Mechatronics (ICM 2009), Málaga, Spain, 14-17 April, 2009.
Sutten, R. S. and Barto, A. G. Reinforcement Learning: An Introduction. MIT Press, Cambridge, MA, 1998.
S.L. Waslander et. al. Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005), 2005, pp. 3712-3717.
Z. Zhang. Learning Algorithm of Wavelet Network Based on Sampling Theory. In Neurocomputing/1 (2007), Elsevier, pp. 244-269.
R. Munos, Szepesvari, C. Finite-Time Bounds for Fitted Value Iteration. Journal of Machine Learning Research 1 (2008), pp. 815-857.
