Multi-Agent旋翼试验台控制系统设计：积分滑模与强化学习.docVIP

Multi-Agent Quadrotor Testbed Control Design: Integral Sliding Mode vs. Reinforcement Learning Steven L. Waslander, Gabriel M. Hoffmann Ph.D. Candidate Aeronautics and Astronautics Stanford University {stevenw, gabeh}@stanford.edu Jung Soon Jang Research Associate Aeronautics and Astronautics Stanford Claire J. Tomlin Associate Professor Aeronautics and Astronautics Abstract—The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is a multi-vehicle testbed currently comprised of two quadrotors, also called X4-?yers, with capacity for eight. This paper presents a com