An RBF neural network augments feedback linearization for quadrotors, adapts online without pre-training, guarantees asymptotic tracking via Lyapunov analysis, and reduces position and yaw RMSE versus baseline in Gazebo and Crazyflie experiments.
Systems Science & Control Engineering , volume =
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Machine Learning-based Feedback Linearization Control of Quadrotor Subject to Unmodeled Dynamics
An RBF neural network augments feedback linearization for quadrotors, adapts online without pre-training, guarantees asymptotic tracking via Lyapunov analysis, and reduces position and yaw RMSE versus baseline in Gazebo and Crazyflie experiments.