Unstable hovering behavior

[jc-bao]

Behavior

$x$	$\dot{x}$

Possible reasons

• Current action scale: 12rad/s in attitude rate.
• Exploration: an unstable initial exploration
• Yaw controller: the yaw controller affect the other two dimensions.

[jc-bao]

Verify1 change vrp scale to a smaller value 12 ▶️ 3

• Result: does not help, the final error is still very large.

[jc-bao]

Verify2 match with old "perfect" attitude rate controller

• Result: the problem still exists.

[jc-bao]

Trail penalizes the aggressive angular velocity.

😢 $0.1\omega$	😄 $0.03\omega$	😃 $0.03\omega$ simulation dynamic