Hai-Wen Yuan

Backstepping actor-critic optimal control for full-pose tracking of tilt-rotor quadcopters.

Tilt-rotor quadcopters enable flight under non-zero attitudes, offering enhanced maneuverability for complex aerial tasks. However, despite their actuation redundancy, the translational and rotational dynamics remain partially coupled, posing challenges for accurate full-pose tracking. This paper proposes a backsteppin...