Print Email Facebook Twitter Online Reinforcement Learning for Flight Control Title Online Reinforcement Learning for Flight Control: An Adaptive Critic Design without prior model knowledge Author Kroezen, Dave (TU Delft Aerospace Engineering; TU Delft Control & Simulation) Contributor van Kampen, E. (mentor) de Croon, G.C.H.E. (graduation committee) Mitici, M.A. (graduation committee) Pan, W. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering | Control & Simulation Date 2019-04-10 Abstract Online Reinforcement Learning is a possible solution for adaptive nonlinear flight control. In this research an Adaptive Critic Design (ACD) based on Dual Heuristic Dynamic Programming (DHP) is developed and implemented on a simulated Cessna Citation 550 aircraft. Using an online identified system model approximation, the method is independent of prior model knowledge. The agent consists of two Artificial Neural Networks (ANNs) which form the Adaptive Critic Design and is supplemented with a Recursive Least Squares (RLS) online model estimation. The implemented agent is demonstrated to learn a near optimal control policy for different operating points, which is capable of tracking pitch and roll rate while actively minimizing the sideslip angle in a faster than real-time simulation. Providing limited model knowledge is shown to increase the learning, performance and robustness of the controller. Subject Reinforcement Learning (RL)Adaptive ControlOnline LearningAdaptive Critic DesignsFlight Control SystemsAdaptive Flight ControlMachine Learning To reference this document use: http://resolver.tudelft.nl/uuid:38547b1d-0535-4b30-a348-67ac40c7ddcc Part of collection Student theses Document type master thesis Rights © 2019 Dave Kroezen Files PDF dkroezen_4097890_thesis.pdf 13.34 MB Close viewer /islandora/object/uuid:38547b1d-0535-4b30-a348-67ac40c7ddcc/datastream/OBJ/view