{"id":"https://openalex.org/W4404520372","doi":"https://doi.org/10.1109/access.2024.3502243","title":"Fine-Tuning Quadcopter Control Parameters via Deep Actor-Critic Learning Framework: An Exploration of Nonlinear Stability Analysis and Intelligent Gain Tuning","display_name":"Fine-Tuning Quadcopter Control Parameters via Deep Actor-Critic Learning Framework: An Exploration of Nonlinear Stability Analysis and Intelligent Gain Tuning","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4404520372","doi":"https://doi.org/10.1109/access.2024.3502243"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3502243","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3502243","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3502243","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024141591","display_name":"Hassan Moin","orcid":"https://orcid.org/0000-0001-8641-4615"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]},{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]}],"countries":["PK","US"],"is_corresponding":true,"raw_author_name":"Hassan Moin","raw_affiliation_strings":["Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, PK"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]},{"raw_affiliation_string":"Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, PK","institution_ids":["https://openalex.org/I110357561","https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049903935","display_name":"Umer Hameed Shah","orcid":"https://orcid.org/0000-0001-9128-0447"},"institutions":[{"id":"https://openalex.org/I182000528","display_name":"Ajman University","ror":"https://ror.org/01j1rma10","country_code":"AE","type":"education","lineage":["https://openalex.org/I182000528"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Umer Hameed Shah","raw_affiliation_strings":["Department of Mechanical Engineering and Artificial Intelligence Research Center, College of Engineering and Information Technology, Ajman University, Ajman, United Arab Emirates","Artificial Intelligence Research Center and Department of Mechanical Engineering, College of Engineering and Information Technology, Ajman University, Ajman, UAE"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Artificial Intelligence Research Center, College of Engineering and Information Technology, Ajman University, Ajman, United Arab Emirates","institution_ids":["https://openalex.org/I182000528"]},{"raw_affiliation_string":"Artificial Intelligence Research Center and Department of Mechanical Engineering, College of Engineering and Information Technology, Ajman University, Ajman, UAE","institution_ids":["https://openalex.org/I182000528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053577816","display_name":"Muhammad Jawad Khan","orcid":"https://orcid.org/0000-0002-9570-1517"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]},{"id":"https://openalex.org/I142608572","display_name":"Prince Sattam Bin Abdulaziz University","ror":"https://ror.org/04jt46d36","country_code":"SA","type":"education","lineage":["https://openalex.org/I142608572"]}],"countries":["PK","SA"],"is_corresponding":false,"raw_author_name":"Muhammad Jawad Khan","raw_affiliation_strings":["Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","School of Engineering, Department of Electrical Engineering, Prince Sattam Bin Abdul Aziz University, SA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]},{"raw_affiliation_string":"School of Engineering, Department of Electrical Engineering, Prince Sattam Bin Abdul Aziz University, SA","institution_ids":["https://openalex.org/I142608572"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079660765","display_name":"Hasan Sajid","orcid":"https://orcid.org/0000-0002-6703-1552"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]},{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]}],"countries":["PK","US"],"is_corresponding":false,"raw_author_name":"Hasan Sajid","raw_affiliation_strings":["Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, PK"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]},{"raw_affiliation_string":"Department of Robotics and Artificial Intelligence, National University of Sciences and Technology, Islamabad, PK","institution_ids":["https://openalex.org/I110357561","https://openalex.org/I929597975"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024141591"],"corresponding_institution_ids":["https://openalex.org/I110357561","https://openalex.org/I929597975"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.0866,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82154288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"173462","last_page":"173474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6438000202178955,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6438000202178955,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.6062999963760376,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.6025000214576721,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.9104041457176208},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6675198674201965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6498466730117798},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5824070572853088},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5288112163543701},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4896757900714874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48400208353996277},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4548819363117218},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2437707781791687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1827467679977417},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12373608350753784}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9104041457176208},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6675198674201965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6498466730117798},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5824070572853088},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5288112163543701},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4896757900714874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48400208353996277},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4548819363117218},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2437707781791687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1827467679977417},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12373608350753784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3502243","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3502243","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c897375304494b04825b7088e05b9f93","is_oa":true,"landing_page_url":"https://doaj.org/article/c897375304494b04825b7088e05b9f93","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 173462-173474 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3502243","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3502243","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6299999952316284,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1994460891","https://openalex.org/W2027701333","https://openalex.org/W2051443096","https://openalex.org/W2098711104","https://openalex.org/W2123574153","https://openalex.org/W2141666765","https://openalex.org/W2151421945","https://openalex.org/W2152161277","https://openalex.org/W2165726932","https://openalex.org/W2345035548","https://openalex.org/W2769934221","https://openalex.org/W2772631443","https://openalex.org/W2808923324","https://openalex.org/W2811016277","https://openalex.org/W2897661175","https://openalex.org/W2901382198","https://openalex.org/W2902439287","https://openalex.org/W2904076490","https://openalex.org/W2905831159","https://openalex.org/W2962890638","https://openalex.org/W2968312042","https://openalex.org/W2987285449","https://openalex.org/W2990775381","https://openalex.org/W2995260821","https://openalex.org/W2996988642","https://openalex.org/W3010003004","https://openalex.org/W3018996888","https://openalex.org/W3045347666","https://openalex.org/W3049692219","https://openalex.org/W3089817617","https://openalex.org/W3094015344","https://openalex.org/W3116341933","https://openalex.org/W3128408433","https://openalex.org/W3158364887","https://openalex.org/W3171137667","https://openalex.org/W3174960357","https://openalex.org/W3179710368","https://openalex.org/W3186904077","https://openalex.org/W3195461953","https://openalex.org/W4214717370","https://openalex.org/W4220737776","https://openalex.org/W4237083225","https://openalex.org/W4285142471","https://openalex.org/W4286656345","https://openalex.org/W4309127006","https://openalex.org/W4321492866","https://openalex.org/W4323663296","https://openalex.org/W4362675521","https://openalex.org/W4368371383","https://openalex.org/W4382631228","https://openalex.org/W4384789633","https://openalex.org/W4387218206","https://openalex.org/W4388625859","https://openalex.org/W4389049677","https://openalex.org/W4389725104","https://openalex.org/W4390546136","https://openalex.org/W4390670349","https://openalex.org/W6684921986","https://openalex.org/W6690323224","https://openalex.org/W6744309734","https://openalex.org/W6752512583","https://openalex.org/W6768912290","https://openalex.org/W6795706841","https://openalex.org/W6803076126"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2334632809","https://openalex.org/W4385318836","https://openalex.org/W2526240748","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W2909947097","https://openalex.org/W2587373415","https://openalex.org/W4399767831"],"abstract_inverted_index":{"Quadcopters":[0],"have":[1,16],"underactuated,":[2],"nonlinear,":[3],"and":[4,33,51,68,83,102],"coupled":[5],"dynamics,":[6],"making":[7],"their":[8],"control":[9],"a":[10,24,65,87,94,158],"challenging":[11,69],"endeavor.":[12],"However,":[13],"PID":[14],"controllers":[15,85],"exhibited":[17],"remarkable":[18],"performance":[19],"for":[20,48,56,79],"such":[21],"systems":[22,58],"in":[23,194],"variety":[25],"of":[26,86,131],"circumstances,":[27],"including":[28],"obstacle":[29],"avoidance,":[30],"trajectory":[31,160],"tracking,":[32],"route":[34],"planning.":[35],"The":[36,105,143],"outer":[37],"loop":[38,45,135],"handles":[39],"mission-level":[40],"goals,":[41],"while":[42],"the":[43,80,111,115,128,132,153,163,172,191],"inner":[44],"is":[46,64,138,146,183],"responsible":[47],"its":[49],"stability":[50,130,177],"control.":[52],"Nevertheless,":[53],"gain":[54,76],"optimization":[55],"nonlinear":[57,90,136,197],"using":[59,93,110,121,140,162],"heuristics":[60],"or":[61],"rule-based":[62],"approaches":[63],"laborious,":[66],"time-consuming,":[67],"task.":[70],"This":[71],"study":[72],"implements":[73],"an":[74,184],"optimal":[75,169],"self-tuning":[77],"framework":[78],"altitude,":[81],"attitude,":[82],"position":[84],"6":[88],"degrees-of-freedom":[89],"drone":[91],"system":[92,137],"deep":[95],"reinforcement":[96,181],"learning":[97,182],"algorithm":[98],"with":[99],"continuous":[100],"observation":[101],"action":[103],"spaces.":[104],"state":[106],"equations":[107],"are":[108,118],"obtained":[109],"Lagrange":[112],"method,":[113],"whilst":[114],"aerodynamic":[116],"coefficients":[117],"computed":[119],"numerically":[120],"blade":[122],"element":[123],"momentum":[124],"theory.":[125,142],"In":[126],"addition,":[127],"asymptotic":[129],"cascaded":[133],"closed":[134],"investigated":[139],"Lyapunov":[141],"proposed":[144],"technique":[145],"validated":[147],"via":[148],"simulations,":[149],"which":[150],"demonstrate":[151],"that":[152,180,188],"quadcopter":[154],"can":[155,189],"closely":[156],"follow":[157],"specified":[159],"by":[161],"optimized":[164],"gains.":[165],"Most":[166],"notably,":[167],"these":[168],"gains":[170],"fulfil":[171],"constraints":[173],"derived":[174],"from":[175],"Lyapunov\u2019s":[176],"analysis,":[178],"suggesting":[179],"incredibly":[185],"powerful":[186],"instrument":[187],"evaluate":[190],"uncertainties":[192],"present":[193],"any":[195],"complicated":[196],"system.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}