{"id":"https://openalex.org/W7155418013","doi":"https://doi.org/10.1109/access.2026.3686862","title":"Reinforcement Learning-Based Attitude Control for UAVs","display_name":"Reinforcement Learning-Based Attitude Control for UAVs","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7155418013","doi":"https://doi.org/10.1109/access.2026.3686862"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3686862","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3686862","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.2026.3686862","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134463128","display_name":"Cui C.Yang","orcid":"https://orcid.org/0009-0005-5653-0478"},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengyang Cui","raw_affiliation_strings":["Xijing University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0005-5653-0478","affiliations":[{"raw_affiliation_string":"Xijing University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134432328","display_name":"Hao D.Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglai Hao","raw_affiliation_strings":["Xijing University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xijing University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134448354","display_name":"Suo C.Ning","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cunning Suo","raw_affiliation_strings":["Xijing University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xijing University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134423559","display_name":"Jia W.Shuo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenshuo Jia","raw_affiliation_strings":["Xijing University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xijing University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5134443361","display_name":"Zhu Z.Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouyan Zhu","raw_affiliation_strings":["Xijing University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xijing University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I4210162994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210162994"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.5218223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"76574","last_page":"76583"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.3084999918937683,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.3084999918937683,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.121799997985363,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.09019999951124191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6887000203132629},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5357000231742859},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48190000653266907},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.37049999833106995},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3127000033855438},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.28139999508857727}],"concepts":[{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6887000203132629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6528000235557556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5357000231742859},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48190000653266907},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3416000008583069},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27250000834465027},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.25839999318122864},{"id":"https://openalex.org/C77304879","wikidata":"https://www.wikidata.org/wiki/Q211485","display_name":"Space technology","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3686862","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3686862","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:c8fab3c94cee4c738ff8c5ff40084445","is_oa":true,"landing_page_url":"https://doaj.org/article/c8fab3c94cee4c738ff8c5ff40084445","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 76574-76583 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3686862","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3686862","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,73,157],"reinforcement":[4],"learning":[5],"(RL)\u2013based":[6],"attitude":[7,32,57,153],"control":[8,33,43,126,154,163],"method":[9,104],"for":[10,150,160],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAVs).":[14],"An":[15],"RL":[16,65],"policy":[17],"is":[18,35,59],"integrated":[19],"into":[20],"the":[21,27,31,64,81,102,123,129,134,140],"PX4":[22],"SITL":[23],"simulation":[24],"platform,":[25],"where":[26],"proportional":[28,86],"term":[29],"of":[30,133],"loop":[34],"adjusted":[36],"online":[37],"via":[38],"theMAVLink":[39],"interface":[40],"to":[41,62,83],"enhance":[42],"performance":[44],"under":[45],"complex":[46],"flight":[47,91,125,162],"conditions,":[48],"such":[49],"as":[50],"strong":[51],"wind":[52],"disturbances.A":[53],"hexacopter":[54],"dynamic":[55],"and":[56,72,94,131,147,155],"model":[58],"first":[60],"established":[61],"construct":[63],"training":[66],"environment.":[67],"A":[68],"lightweight":[69],"neural":[70],"network":[71],"tailored":[74],"reward":[75],"function":[76],"are":[77,119],"then":[78],"designed,":[79],"enabling":[80],"agent":[82],"adaptively":[84],"regulate":[85],"gains":[87],"based":[88],"on":[89],"real-time":[90],"states.Comparative":[92],"simulations":[93],"experiments":[95],"against":[96],"conventional":[97],"fixed-parameter":[98],"controllers":[99],"demonstrate":[100],"that":[101,139],"proposed":[103,135,141],"reduces":[105],"lateral":[106],"oscillations":[107],"by":[108],"approximately":[109],"50":[110],"percent":[111],"while":[112],"improving":[113],"steady-state":[114],"stability.":[115],"Notably,":[116],"these":[117],"improvements":[118],"achieved":[120],"without":[121],"modifying":[122],"original":[124],"architecture,":[127],"highlighting":[128],"practicality":[130],"compatibility":[132],"approach.The":[136],"results":[137],"indicate":[138],"RL-driven":[142],"strategy":[143],"provides":[144],"an":[145],"effective":[146],"feasible":[148],"solution":[149],"enhancing":[151],"UAV":[152],"offers":[156],"promising":[158],"direction":[159],"intelligent":[161],"system":[164],"design.":[165]},"counts_by_year":[],"updated_date":"2026-05-26T06:15:08.310788","created_date":"2026-04-24T00:00:00"}