Non-linear Control of Quad-copters via Approximate Dynamic Programming
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2018-06-01
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Master Thesis
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Abstract
Approximate Dynamic Programming has proven to be successful in many discrete state applications such as playing the games of Tetris or chess. However, not so many applications involving continuous state space dynamics have been proposed. In this thesis we study the possibilities of applying these same techniques to the continuous, non-linear, high dimensional dynamics of a quad-rotor vehicle, by using the Linear Programming approach to find a set of polynomial approximations to the optimal value function. Using a polynomial approximation of the non-linear dynamics, this problem is formulated as a convex semidefinite program and solved multiple times for different tuning parameters. All these approximations are then put together using the point-wise maximum approach, and demonstrated by playing the resulting online policy in simulation and implementation in the real system. We then compare the results obtained in simulation and implementation with another non-linear control approach, Linear Time Varying Model Predictive Control. We then mix both approaches aiming to find a balance between the short term performance of Model Predictive Control and the long term benefits of Approximate Dynamic Programming.
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ETH Zurich
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03751 - Lygeros, John / Lygeros, John
08814 - Smith, Roy (Tit.-Prof.) (ehemalig) / Smith, Roy (Tit.-Prof.) (former)