Web: http://arxiv.org/abs/2206.10397

June 24, 2022, 1:11 a.m. | Bingheng Wang, Zhengtian Ma, Shupeng Lai, Lin Zhao

cs.LG updates on arXiv.org arxiv.org

Estimating and reacting to external disturbances is crucial for robust flight
control of quadrotors. Existing estimators typically require significant tuning
for a specific flight scenario or training with extensive real-world data to
achieve satisfactory performance. In this paper, we propose a neural moving
horizon estimator (NeuroMHE) that can automatically tune the MHE parameters
modeled by a neural network and adapt to different flight scenarios. We achieve
this by deriving the analytical gradient of the MHE estimates with respect to
the …

arxiv moving neural

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