Hybrid Neural Network and Conventional Controller Approach for Robust Control of Highly Unstable Systems: Application to Tilt-Rotor Control
Multirotors are widely used in applications ranging from surveillance to precision agriculture, yet conventional designs remain limited by their under-actuation. Tilt-rotor configurations overcome this limitation by enabling full actuation. This paper investigates neural-network-based control strategies for a fully actuated tilt-rotor system with four thrust-vectoring inputs. Our work is structured in two parts. First, we deliberately present a negative result by evaluating a direct input-output control approach. In this method, multilayer perceptrons (MLPs), long short-term memory (LSTM) networks, and transformer models are trained to map system states and their desired values directly t...
| Authors | Ali Kafili Gavgani, Amin Talaeizadeh, Aria Alasty et al. |
|---|---|
| Primary category | eess.SY |
| Published | 7 June 2026 |
| Last updated at source | 7 June 2026 |
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