An evolutionary strategy that tunes LQG weights for a linearized hovering quadrotor is claimed to cut tracking error by over 55% and improve endurance by nearly 8% in simulation.
Drone-aided delivery methods, challenge, and the future: A methodological review,
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AERO-LQG: Aerial-Enabled Robust Optimization for LQG-Based Quadrotor Flight Controller
An evolutionary strategy that tunes LQG weights for a linearized hovering quadrotor is claimed to cut tracking error by over 55% and improve endurance by nearly 8% in simulation.