Deep Deterministic Policy Gradient (DDPG) Agent-Based Sliding Mode Control for Quadrotor Attitudes
Wenjun Hu,
Yueneng Yang,
Zhiyang Liu
Abstract:A novel reinforcement deep learning deterministic policy gradient agent-based sliding mode control (DDPG-SMC) approach is proposed to suppress the chattering phenomenon in attitude control for quadrotors, in the presence of external disturbances. First, the attitude dynamics model of the quadrotor under study is derived, and the attitude control problem is described using formulas. Second, a sliding mode controller, including its sliding mode surface and reaching law, is chosen for the nonlinear dynamic system… Show more
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