Optimal Containment Control of Multiple Quadrotors via Reinforcement Learning*
Ming Cheng,Hao Liu,Deyuan Liu,Haibo Gu,Xiangke Wang,Ming Cheng,Hao Liu,Deyuan Liu,Haibo Gu,Xiangke Wang
This paper explores the optimal containment control problem for nonlinear and underactuated quadrotors with multiple team leaders governed by nonlinear dynamics, employing the reinforcement learning. A cascade controller is formulated, comprising a position control component to ensure containment achievement and an attitude control component to govern rotational channel. The proposed optimal contr...
