{"id":"https://openalex.org/W7155036362","doi":"https://doi.org/10.48550/arxiv.2604.16819","title":"Online Reinforcement Learning for Safe Gain Scheduling in Nonlinear Quadrotor Control","display_name":"Online Reinforcement Learning for Safe Gain Scheduling in Nonlinear Quadrotor Control","publication_year":2026,"publication_date":"2026-04-18","ids":{"openalex":"https://openalex.org/W7155036362","doi":"https://doi.org/10.48550/arxiv.2604.16819"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.16819","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16819","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.2604.16819","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043410562","display_name":"Muhammad Junayed Hasan Zahed","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zahed, Muhammad Junayed Hasan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134170844","display_name":"Chieh Tsai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsai, Chieh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134173841","display_name":"Salim Hariri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hariri, Salim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5085452242","display_name":"Hossein Rastgoftar","orcid":"https://orcid.org/0000-0001-9212-7161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rastgoftar, Hossein","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":0.616100013256073,"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":0.616100013256073,"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":0.20659999549388885,"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":0.10540000349283218,"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":0.6909999847412109},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6065999865531921},{"id":"https://openalex.org/keywords/gain-scheduling","display_name":"Gain scheduling","score":0.5644999742507935},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.5583999752998352},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5095000267028809},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5054000020027161},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.47679999470710754},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4659000039100647}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6909999847412109},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6065999865531921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5666000247001648},{"id":"https://openalex.org/C97090092","wikidata":"https://www.wikidata.org/wiki/Q764612","display_name":"Gain scheduling","level":3,"score":0.5644999742507935},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.5583999752998352},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5095000267028809},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5054000020027161},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.47679999470710754},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4383000135421753},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.38350000977516174},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.38199999928474426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3709000051021576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36550000309944153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3359000086784363},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.30550000071525574},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2874999940395355},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.2669000029563904}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.16819","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16819","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.2604.16819","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.16819","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":0.8394748568534851,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"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],"paper":[1],"presents":[2],"an":[3],"online":[4,30,148],"reinforcement-learning":[5],"framework":[6],"for":[7],"safe":[8,66,149],"gain":[9,28,150],"scheduling":[10],"of":[11,35,43,63,93],"a":[12,32,64],"nonlinear":[13,129],"quadcopter":[14],"controller.":[15],"Rather":[16],"than":[17],"learning":[18],"thrust":[19],"and":[20,123,143],"torque":[21],"commands":[22],"directly,":[23],"the":[24,41,44,54,78,90,94,113],"proposed":[25],"method":[26],"selects":[27],"vectors":[29],"from":[31],"finite":[33],"library":[34],"pre-certified":[36],"stabilizing":[37],"controllers,":[38],"thereby":[39],"preserving":[40],"structure":[42,92],"underlying":[45],"snap-based":[46],"control":[47,139],"law.":[48],"Safety":[49],"is":[50],"enforced":[51],"by":[52,88],"restricting":[53],"policy":[55],"to":[56,107,112],"admissible":[57],"gains":[58,82,99,119,125],"that":[59],"maintain":[60],"forward":[61],"invariance":[62],"prescribed":[65],"state":[67],"set,":[68],"while":[69],"dwell-time":[70],"constraints":[71],"prevent":[72],"excessively":[73],"fast":[74],"switching.":[75],"To":[76],"reduce":[77],"action-space":[79],"dimension,":[80],"translational":[81,95],"are":[83,100],"shared":[84],"across":[85],"spatial":[86],"axes":[87],"exploiting":[89],"isotropic":[91],"dynamics,":[96],"whereas":[97],"yaw":[98],"scheduled":[101],"independently.":[102],"A":[103],"deep":[104],"Q-network":[105],"learns":[106],"adjust":[108],"feedback":[109],"authority":[110],"according":[111],"current":[114],"flight":[115],"condition,":[116],"using":[117],"aggressive":[118],"during":[120],"large":[121],"transients":[122],"milder":[124],"near":[126,141],"hover.":[127],"High-fidelity":[128],"simulations":[130],"demonstrate":[131],"accurate":[132],"trajectory":[133],"tracking,":[134],"bounded":[135],"attitude":[136],"motion,":[137],"reduced":[138],"effort":[140],"convergence,":[142],"stable":[144],"hover":[145],"regulation":[146],"under":[147],"scheduling.":[151]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-22T00:00:00"}
