Temporally smoothed incremental model-based heuristic dynamic programming for command-filtered cascaded online learning flight control
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Abstract (arXiv)
Approximate Dynamic Programming (ADP) enables online adaptation of control laws through adaptive critic methods. However, its application to online learning Angle-of-Attack (AoA) tracking control remains challenging due to oscillatory control actions under nonlinear dynamics, which may induce system oscillations, degrade tracking performance, and increase actuator effort. To address this challenge, this paper proposes two innovations for online learning flight control: (1) incorporating temporal-scale policy smoothness regularization into the Incremental Model-based Heuristic Dynamic Programming (IHDP) framework; and (2) employing a low-pass filter to attenuate high-frequency pitch-rate commands. Furthermore, a primal-dual approach is developed to adaptively adjust the smoothness penalty weight in the policy objective according to a prescribed smoothness criterion. Tracking control simulations demonstrate that the proposed methods reduce control system oscillations, improve tracking performance, and exhibit post-training policy robustness to model uncertainties.
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References · 11
- 2017Constrained Policy Optimizationcited by 983
- 2020Projection-Based Constrained Policy Optimizationcited by 203
- 2019Safe Policies for Reinforcement Learning via Primal-Dual Methodscited by 79
- 2020Regularizing Action Policies for Smooth Control with Reinforcement Learningcited by 59
- 2021Achieving Zero Constraint Violation for Constrained Reinforcement Learning via Primal-Dual Approachcited by 50
- 2022L2C2: Locally Lipschitz Continuous Constraint towards Stable and Smooth Reinforcement Learningcited by 27
- 2023A Primal-Dual-Critic Algorithm for Offline Constrained Reinforcement Learningcited by 9
- 2022Soft Actor-Critic Deep Reinforcement Learning for Fault Tolerant Flight Controlcited by 3
- 2025Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Controlcited by 2
- 2013Complete stability analysis of a heuristic ADP control designcited by 1
- 2024Deep deterministic policy gradient with symmetric data augmentation for lateral attitude tracking control of a fixed-wing aircraftcited by 1
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