Disturbance-Aware Hybrid Learning for Robust and Adaptive UAV Flight in Extreme Winds

摘要

Safe and precise maneuvering of quadrotor unmanned aerial vehicles (UAVs) in high-speed wind environments remains a critical challenge. Wind disturbances are nonlinear, time-varying, and difficult to model, causing traditional controllers to struggle with perception and compensation, especially under unseen wind distributions. To address these limitations, we introduce WA-TD3, a data-driven control framework that enables real-time wind disturbance perception and adaptive compensation without dedicated wind sensors. WA-TD3 employs a deep residual network to extract wind characteristics from temporal patterns in state deviations, forming a dynamics residual-driven perception mechanism that implicitly models and compensates for unknown winds. This residual is integrated into a perception-augmented reinforcement learning architecture, providing the policy with enhanced state information for proactive disturbance-aware control. Extensive experiments on complex trajectories under varying wind intensities demonstrate that WA-TD3 consistently outperforms state-of-the-art methods, achieving over 62% improvement in tracking accuracy under strong winds.