Neural Moving Horizon Estimation for Robust Flight Control

  title={Neural Moving Horizon Estimation for Robust Flight Control},
  author={Bingheng Wang and Zhengtian Ma and Shupeng Lai and Lin Zhao},
—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 ground-truth disturbance data to achieve satisfactory performance. In this paper, we propose a neural moving horizon estimator (NeuroMHE) that can automatically tune the key parameters modeled by a neural network and adapt to different flight scenarios. We achieve this by deriving the… 



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