Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 43, 2026 No. 11
3358-3365

Tracking control of quadrotor UAVs based on receding horizon and attention mechanism

Wang Yingjie1
Wang Jianhong1
Bai Tingting2
1. School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou Jiangxi 341000, China
2. Command and Control Engineering College, Army Engineering University of PLA, Nanjing 210007, China
DOI: 10.19734/j.issn.1001-3695.2026.03.0070

Abstract

To address strong nonlinearity, high coupling, underactuation, and delayed response to future trajectory changes in complex three-dimensional trajectory tracking of quadrotor UAVs, this paper proposed a receding-horizon proximal policy optimization method with an attention mechanism, named RH-PPO. The method formulated the tracking task as a Markov decision process with a continuous action space based on quadrotor dynamics. It constructed an augmented state using position, velocity, acceleration errors, and relative deviations of future reference trajectories to improve preview compensation for highcurvature paths and aggressive maneuvers. To reduce feature redundancy caused by the augmented state, an attention-based feature reweighting module recalibrated state features before the actor and critic networks. A multi-objective exponential reward function further considered position, velocity, acceleration, yaw errors, and action smoothness. Simulation results show that RH-PPO achieves favorable overall performance in complex three-dimensional trajectory tracking. It outperforms PID, linear MPC, standard PPO, and related ablation models in horizontal tracking accuracy, training convergence stability, and postdisturbance recovery. Sensitivity analysis verifies the rationality of the receding horizon length and compression ratio.

Foundation Support

江西省研究生创新专项资金资助项目(YC2025-S588)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.03.0070
Publish at: Application Research of Computers Printed Article, Vol. 43, 2026 No. 11
Section: Algorithm Research & Explore
Pages: 3358-3365
Serial Number: 1001-3695(2026)11-021-3358-08

Publish History

[2026-11-05] Printed Article

Cite This Article

王英杰, 王建宏, 柏婷婷. 基于滚动视界与注意力机制的四旋翼无人机轨迹跟踪控制 [J]. 计算机应用研究, 2026, 43 (11): 3358-3365. (Wang Yingjie, Wang Jianhong, Bai Tingting. Tracking control of quadrotor UAVs based on receding horizon and attention mechanism [J]. Application Research of Computers, 2026, 43 (11): 3358-3365. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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