Akiya Kamimura

Tianhua Gao, Masashi Izumita, Kohji Tomita et al.

This paper introduces a dimension-decomposed geometric learning framework called Sliced Learning for disturbance identification in quadrotor geometric attitude control. Instead of conventional learning-from-states, this framework adopts a learning-from-error strategy by using the Lie-algebraic error representation as the input feature, enabling axis-wise space decomposition (``slicing") while preserving the SO(3) structure. This is highly consistent with the geometric mechanism of cognitive control observed in neuroscience, where neural systems organize adaptive representations within structured subspaces to enable cognitive flexibility and efficiency. Based on this framework, we develop a lightweight and structurally interpretable Sliced Adaptive-Neuro Mapping (SANM) module. The high-dimensional mapping for online identification is axially ``sliced" into multiple low-dimensional submappings (``slices"), implemented by shallow neural networks and adaptive laws. These neural networks and adaptive laws are updated online via Lyapunov-based adaptation within their respective shared subspaces. To enhance interpretability, we prove exponential convergence despite time-varying disturbances and inertia uncertainties. To our knowledge, Sliced Learning is among the first frameworks to demonstrate lightweight online neural adaptation at 400 Hz on resource-constrained microcontroller units (MCUs), such as STM32, with real-world experimental validation.

Tianhua Gao, Kohji Tomita, Akiya Kamimura

This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling efficient real-time compensation to time-varying disturbances and model uncertainties acting on the payload. The strategy is to decompose the high-dimensional error space into a set of low-dimensional subspaces. In this way, the identification problem for unseen features is naturally transformed into submappings (``slices'') addressed by multiple adaptive laws and shallow neural networks, which are updated online via Lyapunov-based adaptation without requiring persistent excitation (PE) and offline training. Due to the model-free nature of neural networks, this approach can be well adapted to highly coupled and nonlinear centralized transportation systems. It serves as a feedforward compensator for the payload controller without explicitly relying on the dynamics coupled with the payload, such as cables and quadrotors. The proposed control system has been proven to be stable in the sense of Lyapunov, and its enhanced robustness under time-varying disturbances and model uncertainties was demonstrated by numerical simulations.