This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is conditioned on a parameterization of actuator faults using hypernetwork-based adaptation. We consider parameter-efficient formulations based on Feature-wise Linear Modulation (FiLM) and Low-Rank Adaptation (LoRA), trained using proximal policy optimization. We demonstrate that hypernetwork-conditioned policies can improve robustness compared to standard multilayer perceptron policies. In particular, hypernetwork-conditioned policies generalize effectively to time-varying actuator failure modes not encountered during training. The approach is validated through high-fidelity simulations, using a realistic six-degree-of-freedom fixed-wing aircraft model.
@article{arxiv.2604.03392,
title = {Hypernetwork-Conditioned Reinforcement Learning for Robust Control of Fixed-Wing Aircraft under Actuator Failures},
author = {Dennis Marquis and Mazen Farhood},
journal= {arXiv preprint arXiv:2604.03392},
year = {2026}
}