Machine Learning-based Feedback Linearization Control of Quadrotor Subject to Unmodeled Dynamics

arXiv:2606.31199v1 Announce Type: new Abstract: The control of agile quadrotors in dynamic and uncertain environments remains an open area of investigation to this day, particularly when the complete system dynamics are partially known or highly nonlinear. This work introduces a novel machine learning-based feedback-linearization control framework that employs a Gaussian Radial Basis Function (RBF) neural network (NN) to model and compensate for unmodeled dynamics in real time. The proposed cont...