Neural internal model control adds a rigid-body predictive error, the gap between commanded and actual body motion, as a feedback signal to an RL policy, improving disturbance robustness on quadrotors and quadrupeds.
Adaptive control [second edition, by karl j. astrom and bjorn wittenmark, addison wesley (1995)],
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Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedback
Neural internal model control adds a rigid-body predictive error, the gap between commanded and actual body motion, as a feedback signal to an RL policy, improving disturbance robustness on quadrotors and quadrupeds.