def make_angular_integral_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: ANGLE_DEG_ERROR_SCALING = 0.1 CMD_TRAVEL_MAX = 2 / 4 # a qarter of the max. absolute value of the delta-cmd; ANGLE_INT_DEG_MAX = self.integral_limit base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_Angle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ANGLE_DEG_ERROR_SCALING, weight=6), rewards.LinearErrorComponent(name='rwd_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=CMD_TRAVEL_MAX, weight=4), rewards.LinearErrorComponent(name='rwd_Angle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ANGLE_INT_DEG_MAX, weight=10), ) return base_components
def make_sideslip_angle_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: SIDESLIP_ANGLE_DEG_ERROR_SCALING = 0.5 RUDDER_CMD_TRAVEL_MAX = 2 / 4 # a quarter of the max. absolute value of the delta-cmd; leverage the non-linearities SIDESLIP_ANGLE_INT_DEG_MAX = self.integral_limit base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_sideslipAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=SIDESLIP_ANGLE_DEG_ERROR_SCALING, weight=4), rewards.LinearErrorComponent( name='rwd_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=RUDDER_CMD_TRAVEL_MAX, weight=1), #for the rudder, we increase this priority rewards.LinearErrorComponent(name='rwd_sideslipAngle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=SIDESLIP_ANGLE_INT_DEG_MAX, weight=1), ) return base_components
def make_glide_path_angle_reward_components(self): GLIDE_ANGLE_DEG_ERROR_SCALING = 0.1 GLIDE_ANGLE_INT_DEG_MAX = self.integral_limit base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_glideAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=GLIDE_ANGLE_DEG_ERROR_SCALING, weight=4), rewards.LinearErrorComponent(name='rwd_glideAngle_error_derivative', prop=self.prop_error_derivative, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=2, weight=1), rewards.LinearErrorComponent(name='rwd_glideAngle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=GLIDE_ANGLE_INT_DEG_MAX, weight=9), ) return base_components
def make_angular_error_only_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: ANGLE_DEG_ERROR_SCALING = 0.1 base_components = (rewards.AngularAsymptoticErrorComponent( name='rwd_rollAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ANGLE_DEG_ERROR_SCALING, weight=1), ) return base_components
def make_glide_angle_reward_components(self): GLIDE_ANGLE_DEG_ERROR_SCALING = 0.1 GLIDE_ANGLE_INT_DEG_MAX = self.integral_limit ELEVATOR_CMD_TRAVEL_MAX = 2 / 4 # a quarter of the max. absolute value of the delta-cmd; leverage the non-linearities GLIDE_ANGULAR_VELOCITY_SCALING = 0.25 base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_glideAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=GLIDE_ANGLE_DEG_ERROR_SCALING, weight=4), rewards.LinearErrorComponent(name='rwd_glideAngle_error_derivative', prop=self.prop_error_derivative, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=2, weight=1), rewards.LinearErrorComponent(name='rwd_glideAngle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=GLIDE_ANGLE_INT_DEG_MAX, weight=9), rewards.LinearErrorComponent(name='rwd_elevator_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ELEVATOR_CMD_TRAVEL_MAX, weight=2), # rewards.LinearErrorComponent(name='rwd_angular_velocity_q_rad', # prop=prp.q_radps, # state_variables=self.obs_props, # target=0.0, # potential_difference_based=False, # scaling_factor=GLIDE_ANGULAR_VELOCITY_SCALING, # weight=1), ) return base_components
def make_roll_angle_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: ROLL_ANGLE_DEG_ERROR_SCALING = 0.5 ROLL_ANGLE_INT_DEG_MAX = self.integral_limit AILERON_CMD_TRAVEL_MAX = 2 / 4 # a quarter of the max. absolute value of the delta-cmd; leverage the non-linearities ROLL_ANGULAR_VELOCITY_SCALING = 0.25 base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_rollAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_DEG_ERROR_SCALING, weight=4), rewards.LinearErrorComponent(name='rwd_rollAngle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_INT_DEG_MAX, weight=9), rewards.LinearErrorComponent(name='rwd_aileron_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=AILERON_CMD_TRAVEL_MAX, weight=2), #check if the angular-velocity criterion is more helpful to avoid flittering. #from a causality point of view, the command travel should be the criterion, as we want to avoid excessive movement. #The control surface travel (derivative) must be presented to the ANN anyways. rewards.LinearErrorComponent( name='rwd_roll_angular_velocity', prop=prp.p_radps, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGULAR_VELOCITY_SCALING, weight=1), ) return base_components
def make_roll_angle_integral_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: ROLL_ANGLE_DEG_ERROR_SCALING = 0.5 AILERON_CMD_TRAVEL_MAX = 2 / 4 # a qarter of the max. absolute value of the delta-cmd; ROLL_ANGLE_INT_DEG_MAX = self.integral_limit ROLL_ANGLE_DER_DEG_MAX = 10 base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_rollAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_DEG_ERROR_SCALING, weight=4), rewards.LinearErrorComponent(name='rwd_aileron_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=AILERON_CMD_TRAVEL_MAX, weight=2), rewards.LinearErrorComponent(name='rwd_rollAngle_error_Integral', prop=self.prop_error_integral, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_INT_DEG_MAX, weight=9), rewards.QuadraticErrorComponent( name='rwd_rollAngle_error_Derivative', prop=self.prop_error_derivative, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_DER_DEG_MAX**2, weight=2), ) return base_components
def make_roll_angle_error_punish_actuation_reward_components( self) -> Tuple[rewards.RewardComponent, ...]: ROLL_ANGLE_DEG_ERROR_SCALING = 0.5 AILERON_CMD_TRAVEL_MAX = 2 # the max. absolute value of the delta-cmd; base_components = ( rewards.AngularAsymptoticErrorComponent( name='rwd_rollAngle_error', prop=self.prop_error, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=ROLL_ANGLE_DEG_ERROR_SCALING, weight=8), rewards.LinearErrorComponent(name='rwd_aileron_cmd_travel_error', prop=self.prop_delta_cmd, state_variables=self.obs_props, target=0.0, potential_difference_based=False, scaling_factor=AILERON_CMD_TRAVEL_MAX, weight=2), ) return base_components