Table 2.
Parameter configuration of the Transformer-PID gain regulator.
| Parameter | Symbol | Value | Description |
|---|---|---|---|
| Input feature dimension |  |
20 | Length of the feature vector |
| Embedding dimension |  |
64 | Dimensionality of the input embedding space |
| Number of encoder layers |  |
3 | Depth of the Transformer stack |
| Number of attention heads |  |
4 | Number of parallel attention mechanisms |
| Key vector dimension |  |
16 | Denominator of the self-attention scaling factor |
| Hidden layer size of FFNN |  |
256 | Number of neurons in the feedforward neural network within the encoder |
| Baseline proportional gain |  |
 |
Initial  for roll/pitch/yaw/thrust channels |
| Baseline integral gain |  |
 |
Initial  for each control channel |
| Baseline derivative gain |  |
 |
Initial Kd for each control channel |
| Gain adjustment coefficients |
 , ,
|
0.6, 0.7, 0.4 | Scaling factors for the gain adjustment range |