Physics-Aware Machine Learning Approach for High-Precision Quadcopter Dynamics Modeling

Abstract

In this paper, we propose a physics-informed neural network controller for quadcopter dynamics modeling. Physics-aware machine learning methods, such as physics-informed neural networks, consider the UAV dynamics model, solving the system of ordinary differential equations entirely, unlike proportional–integral–derivative controllers. The more accurate control action on the quadcopter reduces flight time and power consumption. We applied our fractional optimization algorithms to decreasing the solution error of quadcopter dynamics. Including advanced optimizers in the reinforcement learning model, we achieved the trajectory of UAV flight more accurately than state-of-the-art proportional–integral–derivative controllers. The advanced optimizers allowed the proposed controller to increase the quality of the building trajectory of the UAV compared to the state-of-the-art approach by 10 percentage points. Our model had less error value in spatial coordinates and Euler angles by 25–35% and 30–44%, respectively.