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1、Multi-AgentQuadrotorTestbedControlDesign:IntegralSlidingModevs.ReinforcementLearning∗StevenL.Waslander†,GabrielM.Hoffmann†,‡JungSoonJangClaireJ.TomlinPh.D.CandidateResearchAssociateAssociateProfessorAeronauticsandAstronauticsAeronauticsandAstronauticsAerona
2、uticsandAstronauticsStanfordUniversityStanfordUniversityStanfordUniversity{stevenw,gabeh}@stanford.edujsjang@stanford.edutomlin@stanford.eduAbstract—TheStanfordTestbedofAutonomousRotorcraftDraganFlyerIV[3].Manygroups[4]–[7]haveseensignif-forMulti-AgentContr
3、ol(STARMAC)isamulti-vehicletestbedicantsuccessindevelopingautonomousquadrotorvehicles.currentlycomprisedoftwoquadrotors,alsocalledX4-flyers,Todate,however,STARMACistheonlyoperationalmulti-withcapacityforeight.Thispaperpresentsacomparisonvehiclequadrotorplatf
4、ormcapableofautonomousoutdoorofcontroldesigntechniques,specificallyforoutdooraltitudecontrol,inandabovegroundeffect,thataccommodatetheflight,withouttethersormotionguides.uniquedynamicsoftheaircraft.Duetothecomplexairflowin-ThefirstmajormilestoneforSTARMACwasaut
5、onomousducedbythefourinteractingrotors,classicallineartechniqueshovercontrol,withclosedloopcontrolofattitude,altitudefailedtoprovidesufficientstability.IntegralSlidingModeandandposition.Usinginertialsensing,theattitudeoftheReinforcementLearningcontrolarepres
6、entedastwodesignaircraftissimpletocontrol,byapplyingsmallvariationsintechniquesforaccommodatingthenonlineardisturbances.Themethodsbothresultingreatlyimprovedperformanceovertherelativespeedsoftheblades.Infact,standardintegralclassicalcontroltechniques.LQRtec
7、hniqueswereappliedtoprovidereliableattitudestabilityandtrackingforthevehicle.PositioncontrolwasI.INTRODUCTIONalsoachievedwithanintegralLQR,withcarefuldesigninAsfirstintroducedbytheauthorsin[1],theStanfordordertoensurespectralseparationofthesuccessiveloops.Te
8、stbedofAutonomousRotorcraftforMulti-AgentCon-Unfortunately,altitudecontrolproveslessstraightforward.trol(STARMAC)isanaerialplatformintendedtovalidateTherearemanyfactorsthataffectthealtitudeloopspecif-n
