Application Of Reinforcement Learning In Heading Control Of A Fixed Wing UAV Using X-Plane Platform
Journal: International Journal of Scientific & Technology Research (Vol.6, No. 2)Publication Date: 2017-02-15
Authors : Kimathi; S.; Kangethe; S.; Kihato; P;
Page : 285-290
Keywords : UAV; Reinforcement Learning; PID; X-Plane;
Abstract
Heading control of an Unmanned Aerial Vehicle UAV is a vital operation of an autopilot system. It is executed by employing a design of control algorithms that control its direction and navigation. Most commonly available autopilots exploit Proportional-Integral-Derivative PID based heading controllers. In this paper we propose an online adaptive reinforcement learning heading controller. The autopilot heading controller will be designed in MatlabSimulink for controlling a UAV in X-Plane test platform. Through this platform the performance of the controller is shown using real time simulations. The performance of this controller is compared to that of a PID controller. The results show that the proposed method performs better than a well tuned PID controller.
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Last modified: 2017-06-11 22:59:11