A dual-bandwidth exponential reward structure plus heuristic tuning rules enable adjustable settling times in PPO-trained quadrotor policies while preserving critically damped response and approximately 2% steady-state error.
Level ing the playing field: Carefully comparing classical and learned co ntrollers for quadrotor trajectory tracking,
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A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
A dual-bandwidth exponential reward structure plus heuristic tuning rules enable adjustable settling times in PPO-trained quadrotor policies while preserving critically damped response and approximately 2% steady-state error.