基于深度强化学习的固定翼无人机纵向控制OA

As a typical nonlinear system,the dynamic characteristics of a fixed-wing unmanned aerial vehicle(UAV)become more and more complex.Traditional control methods are mainly designed based on model and experience,and lack adaptability to complex environments and tasks.Based on the deep deterministic policy gradient(DDPG)algorithm of multi-dimensional continuous state input and multi-dimensional continuous action output,a longitudinal flight controller of a fixed-wing UAV was designed.The speed,pitch angle tracking errors,and related quantities of multiple moments were taken as the input of the controller,and the output was the elevator deflection and throttle setting signals.To improve the learning efficiency of the algorithm and mitigate the impact of sparse rewards on learning,the reward function introduced positive reward incentives in addition to the dense penalty for tracking errors.These positive rewards were given when the tracking error fell within a certain range and when the agent quickly reached the tracking target.Ultimately,end-to-end control from the longitudinal state of the UAV to the control surface was achieved,and under various control targets and model parameter perturbations,simulations were performed to compare the proportional-integral-derivative(PID)controller with a deep reinforcement learning-based control system.According to the simulation results,the deep reinforcement learning(DRL)-based control system may accomplish control goals and show some degree of robustness and generalization,with control performance sometimes outperforming the PID controller.