Statistical Turbulence and High-Fidelity Disturbance Fields for Quadrotor Flight Control
Reinforcement-learning quadrotor controllers are usually trained under simplified wind models, yet the impact of wind-field fidelity, as opposed to magnitude, on policy robustness remains unquantified. This paper compares five disturbance-fidelity levels, from wind-free flight and discrete 1-cosine gusts through statistical turbulence and synthetic coherent structures to large-eddy-simulation fields of the atmospheric boundary layer, in a full cross-fidelity train test evaluation of proximal policy optimization (PPO) agents, with cascaded PID and geometric SE(3) controllers as training-free references, over a 0-12 m/s wind sweep. Before any controller comparison is made, all disturbance d...
| Authors | Xun Huang |
|---|---|
| Primary category | physics.flu-dyn |
| Published | 9 September 2026 |
| Last updated at source | 9 September 2026 |
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