A cascaded online learning flight control system has been developed and enhanced with respect to action smoothness. In this paper, we investigate the convergence performance of the control system, characterized by the increment of a Lyapunov function candidate. The derivation of this metric accounts for discretization errors and state prediction errors introduced by the incremental model. Comparative results are presented through flight control simulations.
@article{arxiv.2510.22840,
title = {Lyapunov Function-guided Reinforcement Learning for Flight Control},
author = {Yifei Li and Erik-Jan van Kampen},
journal= {arXiv preprint arXiv:2510.22840},
year = {2025}
}