Adaptive Gain Scheduling using Reinforcement Learning for Quadcopter Control
This addresses trajectory tracking for quadcopters, but it is incremental as it applies an existing RL method to a specific control problem.
The paper tackled quadcopter control by using reinforcement learning to adapt control gains in-flight, resulting in over 40% decrease in tracking error compared to a static gain controller.
The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded feedback controller in-flight. The primary goal of this controller is to minimize tracking error while following a specified trajectory. The paper's key objective is to analyze the effectiveness of the adaptive gain policy and compare it to the performance of a static gain control algorithm, where the Integral Squared Error and Integral Time Squared Error are used as metrics. The results show that the adaptive gain scheme achieves over 40$\%$ decrease in tracking error as compared to the static gain controller.