Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA（2023）
关键词
adaptive attitude controller,agile trajectory tracking,cascaded control scheme,computationally efficient trajectory,deep-learned tube MPC,insect-scale soft-actuated aerial robots,MAVs,MIT SoftFly,model uncertainties,neural network policy,NN policy,position root mean square errors,robot dynamics,robust feedback controllers,robust tube model predictive controller,robustness,RTMPC,sub-gram MAV,sub-gram microaerial vehicles
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