Abstract
Autonomous robots require control tuning to optimize their performance, such as optimal trajectory tracking. Controllers, such as the Proportional–Integral–Derivative (PID) controller, which are commonly used in robots, are usually tuned by a cumbersome manual process or offline data-driven methods. Both approaches must be repeated if the system configuration changes or becomes exposed to new environmental conditions. In this work, we propose a novel algorithm that can perform online optimal control tuning (OCTUNE) of a discrete linear time-invariant (LTI) controller in a classical feedback system without the knowledge of the plant dynamics. The OCTUNE algorithm uses the backpropagation optimization technique to optimize the controller parameters. Furthermore, convergence guarantees are derived using the Lyapunov stability theory to ensure stable iterative tuning using real-time data. We validate the algorithm in realistic simulations of a quadcopter model with PID controllers using the known Gazebo simulator and a real quadcopter platform. Simulations and actual experiment results show that OCTUNE can be effectively used to automatically tune the UAV PID controllers in real-time, with guaranteed convergence. Finally, we provide an open-source implementation of the OCTUNE algorithm, which can be adapted for different applications.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference31 articles.
1. Model predictive control tuning methods: A review;Garriga;Ind. Eng. Chem. Res.,2010
2. A review of PID control, tuning methods and applications;Borase;Int. J. Dyn. Control,2021
3. PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms;Meier;Proc. IEEE Int. Conf. Robot. Autom.,2015
4. (2022, March 15). ArduPilot Open Source Autopilot System. Available online: https://ardupilot.org/.
5. On feedback control of linear stochastic systems;Lindquist;SIAM J. Control,1973