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STARMAC
 Download White Paper here.
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC)
is a multi-vehicle testbed currently comprising of two X4-flyers, with capacity
for eight.
This paper presents a comparison of control design techniques, specifically
for outdoor altitude control, in and above ground effect, that accommodate the unique
dynamics of the aircraft. Due to the complex airflow induced by the four interacting
rotors, classical linear techniques failed to provide sufficient stability. Integral
Sliding Mode and Reinforcement Learning control are presented as two design techniques
for accommodating the nonlinear disturbances. The methods both result in greatly
improved performance over classical control techniques.
Steven L. Waslander, Gabriel Hoffmann, Jung Soon Jang, Claire J.
Tomlin,
Aeronautics and Astronautics, Stanford University
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