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OCTUNE: Optimal Control Tuning Using Real-Time Data with Algorithm and Experimental Results

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....

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Detalles Bibliográficos
Autores principales: Abdelkader, Mohamed, Mabrok, Mohamed, Koubaa, Anis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9736629/
https://www.ncbi.nlm.nih.gov/pubmed/36501943
http://dx.doi.org/10.3390/s22239240
Descripción
Sumario: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.