Abstract
Quadcopters offer great utility in many applications, but their nonlinear nature and disturbance sensitivity present great control challenges. Basic PID controllers are generally not sophisticated enough to cope with these complexities. This paper suggests a control system that integrates the Asynchronous Advantage Actor-Critic (A3C) algorithm with a PID controller for quadcopter attitude and trajectory tracking. The A3C controller uses parallel agents to optimize PID parameters dynamically using a neural network. A system identification module for the complementary system makes predictions about system states for optimal control policy. The proposed framework was compared with a standard actor-critic (A2C) model. Simulation results verify that they both track accurately. However, the A3C-based controller converges much more for the loss function, as evidenced by reward figures and loss curves, demonstrating better parameter optimization. This shows that A3C-based approach results in improved performance for the control of quadcopter, effectively integrating reinforcement learning and traditional control to achieve higher adaptability.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Jokar, A., & Alasty, A. (2026). Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control. https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control
MLA 9
Jokar, Ali, and Aria Alasty. "Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control." https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control.
Chicago (author–date)
Jokar, Ali, and Aria Alasty. 2026. "Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control." https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control.
Harvard
Jokar, A. and Alasty, A. (2026) 'Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control', Available at: https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control.
Vancouver
Jokar A, Alasty A. Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control. https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control
IEEE
A. Jokar, and A. Alasty, "Design of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control," https://omanscience.com/en/articles/design-of-adaptive-pid-controller-based-on-asynchronous-advantage-actor-critic-learning-method-for-quadcopter-control.