Prescribed Performance Path-Following Control for Rotor-Assisted Vehicles via an Improved Reinforcement Learning Mechanism.

Abstract

This article investigates an adaptive prescribed performance path-following control algorithm for rotor-assisted vehicles, incorporating reinforcement learning (RL) to execute energy-saving cruising missions. For obtaining a high-performance path-following controller, a concise prescribed performance control (PPC) algorithm is designed to tightly constrain the output errors within the defined boundaries, while a shifting function is introduced to solve the problem of initial condition restrictions. Furthermore, through integrating the Backstepping method and the optimal control technique, an improved RL with the form of actor-critic neural networks (AC-NNs) is proposed to offer an innovative approach to the challenges of the model uncertainties and external disturbances. In this approach, the actor NN is employed to create an appropriate control policy, while the critic NN is aimed at evaluating the cost-to-go function to modify the system action. Semi-global uniform ultimate bounded (SGUUB) stable properties of the proposed algorithm are guaranteed via the Lyapunov theory. Finally, the superiority and feasibility of the proposed algorithm are verified by two numerical experiments.