Sample-Efficient Reinforcement Learning for Flight Control
Advancing Fault-Tolerant Control
W.Y. Chan (TU Delft - Aerospace Engineering)
Erik-Jan van Kampen β Mentor (TU Delft - Control & Simulation)
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Abstract
Incremental Dual Heuristic Programming (IDHP) is a successor to the Dual Heuristic Programming (DHP) algorithm that uses an online identified incremental system model, this algorithm showed promising flight control performance and tolerance of faults in simulation experiments. This paper studies the potential for extending IDHP through augmenting the computation of agent updates and returns, more specifically, by using eligibility trace updates and multi-step temporal difference error. This results in the IDHP(π), MIDHP, and MIDHP(π) algorithms, which are compared against IDHP in several simulated flight control scenarios with faults introduced mid-flight. The results demonstrate that the proposed algorithms have improved flight control performance and fault tolerance in terms of tracking errors when controlling a nominal aircraft and an aircraft with faults introduced, with the most improvement observed in MIDHP(π)