{"id":"https://openalex.org/W7154564489","doi":"https://doi.org/10.48550/arxiv.2604.13505","title":"Cascaded TD3-PID Hybrid Controller for Quadrotor Trajectory Tracking in Wind Disturbance Environments","display_name":"Cascaded TD3-PID Hybrid Controller for Quadrotor Trajectory Tracking in Wind Disturbance Environments","publication_year":2026,"publication_date":"2026-04-15","ids":{"openalex":"https://openalex.org/W7154564489","doi":"https://doi.org/10.48550/arxiv.2604.13505"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.13505","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.13505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.13505","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133737748","display_name":"Yukang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yukang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133757084","display_name":"Shuqi Chai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chai, Shuqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133743692","display_name":"Yuhang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133736396","display_name":"Danlan Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Danlan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133816647","display_name":"Quanbo Ge","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ge, Quanbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7789000272750854,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7789000272750854,"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"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.06920000165700912,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.039500001817941666,"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/control-theory","display_name":"Control theory (sociology)","score":0.871999979019165},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6866999864578247},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.49779999256134033},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47589999437332153},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4684999883174896},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4666999876499176},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4406000077724457},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.36410000920295715},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.3440999984741211}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.871999979019165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6866999864578247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335000157356262},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47589999437332153},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4684999883174896},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4666999876499176},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4406000077724457},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3691999912261963},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.33660000562667847},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3203999996185303},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C206923515","wikidata":"https://www.wikidata.org/wiki/Q5459269","display_name":"Flight dynamics","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28769999742507935},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.27489998936653137},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.272599995136261},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2619999945163727},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.13505","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.13505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.13505","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.13505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.8824874758720398,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,94,114],"cascaded":[4],"hybrid":[5,115],"control":[6,39,55,59,81,100,130],"framework":[7,71],"for":[8,77],"quadrotor":[9,19,151],"trajectory":[10,163],"tracking":[11,164],"under":[12,101,165],"nonlinear":[13],"dynamics":[14,29],"and":[15,23,48,79,111,121,141,145,161],"external":[16],"disturbances.":[17,103],"In":[18],"systems,":[20],"the":[21,69,129,150,155],"altitude":[22,78,110],"attitude":[24,80,112],"channels":[25],"exhibit":[26],"fast,":[27],"structured":[28],"that":[30,51,154],"are":[31,136],"well":[32,63],"suited":[33,64],"to":[34,65],"reliable":[35],"regulation,":[36],"whereas":[37],"horizontal-position":[38,99],"is":[40,61,126],"more":[41,159],"strongly":[42],"affected":[43],"by":[44],"coupling":[45],"effects,":[46],"uncertainty,":[47],"disturbances,":[49],"so":[50],"neither":[52],"pure":[53],"feedback":[54],"nor":[56],"purely":[57],"learning-based":[58],"alone":[60],"equally":[62],"all":[66],"channels.":[67],"Accordingly,":[68],"proposed":[70,133,156],"augments":[72],"conventional":[73],"proportional-integral-derivative":[74],"(PID)":[75],"stabilization":[76],"with":[82],"an":[83],"enhanced":[84],"Twin":[85],"Delayed":[86],"Deep":[87],"Deterministic":[88],"Policy":[89],"Gradient":[90],"(TD3)":[91],"agent":[92],"incorporating":[93],"multi-Q-network":[95],"structure,":[96],"thereby":[97],"improving":[98],"severe":[102],"To":[104],"further":[105],"strengthen":[106],"disturbance":[107,116],"rejection":[108],"in":[109,128],"control,":[113],"observer":[117],"(HDOB)":[118],"using":[119],"low-pass":[120],"exponential":[122],"moving":[123],"average":[124],"filtering":[125],"embedded":[127],"loops.":[131],"The":[132],"TD3":[134],"enhancements":[135],"verified":[137],"through":[138],"ablation":[139],"studies,":[140],"both":[142],"numerical":[143],"simulations":[144],"real-world":[146],"flight":[147],"tests":[148],"on":[149],"platform":[152],"demonstrate":[153],"method":[157],"achieves":[158],"accurate":[160],"robust":[162],"wind":[166],"disturbances":[167],"than":[168],"baseline":[169],"approaches.":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-17T00:00:00"}
