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


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

September 28, 2020
February 18, 2021
April 20, 2021
stochastic optimal control, stochastic differential dynamic programming, input saturation, position and attitude control, 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.

Stochastic system model of a quadcopter

Stochastic system model of a quadcopter

Cite this article as:
S. Satoh, H. Saijo, and K. 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 Apr. 22, 2024