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JRM Vol.33 No.2 pp. 283-291
doi: 10.20965/jrm.2021.p0283
(2021)

Paper:

Optimal Position and Attitude Control of Quadcopter Using Stochastic Differential Dynamic Programming with Input Saturation Constraints

Satoshi Satoh*, Hironori Saijo**, and Katsuhiko Yamada*

*Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

**Graduate School of Engineering, Kyoto University
Kyotodaigaku-katsura, Nishikyo-ku, Kyoto 615-8246, Japan

Received:
September 28, 2020
Accepted:
February 18, 2021
Published:
April 20, 2021
Keywords:
stochastic optimal control, stochastic differential dynamic programming, input saturation, position and attitude control, quadcopter
Abstract
Optimal Position and Attitude Control of Quadcopter Using Stochastic Differential Dynamic Programming with Input Saturation Constraints

Stochastic system model of a quadcopter

This paper considers the position and attitude control of a quadcopter in the presence of stochastic disturbances. Basic quadcopter dynamics is modeled as a nonlinear stochastic system described by a stochastic differential equation. Subsequently, the position and attitude control is formulated as a nonlinear stochastic optimal control problem with input saturation constraints. To solve this problem, a continuous-time stochastic differential dynamic programming (DDP) method with input saturation constraints is newly proposed. Finally, numerical simulations demonstrate the effectiveness of the proposed method by comparing it with the linear quadratic Gaussian and the deterministic DDP with input saturation constraints.

Cite this article as:
Satoshi Satoh, Hironori Saijo, and Katsuhiko Yamada, “Optimal Position and Attitude Control of Quadcopter Using Stochastic Differential Dynamic Programming with Input Saturation Constraints,” J. Robot. Mechatron., Vol.33, No.2, pp. 283-291, 2021.
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Last updated on May. 10, 2021