基于近似动态规划的目标追踪控制算法

在目标跟踪问题中，针对飞行器控制算法难以适应目标大机动飞行甚至与我方博弈等难度较大任务的问题，提出了基于近似动态规划的目标追踪控制算法。该算法通过使用博弈策略对我方无人机进行训练形成经验，将双方位置等状态作为已知量，滚转方向作为控制量，利用两物体的相对位置得出其特征，并形成近似值函数；最终利用rollout算法进行最优跟踪决策求解，实现对跟踪目标甚至是博弈目标的灵活有效精确跟踪。仿真结果验证了近似动态规划用于控制算法的有效性。 

Target tracking control algorithm based on approximate dynamic programming

The control algorithm for the target tracking problem cannot be well adapted to the problem of large-scale maneuver flight or even game with us. This paper proposes a control algorithm for target tracking using approximate dynamic programming. The game algorithm is used to train our UAV to form an experience. The positions of both sides are taken as known quantity and the roll direction as the control quantity. The relative positions of two objects are used to derive their features and then an approximate function is formed. The rollout algorithm is used to obtain the optimal decision, and the flexible and effective tracking of tracking targets and even gaming targets can be achieved. The simulation results verify the effectiveness of approximate dynamic programming for control algorithms.