The invention relates to the technical field of intelligent
robot control, in particular to a small
robot dynamic balance control system based on DDPG, which comprises a sensor and a preprocessing module, provides accurate and reliable state data through denoising and
standardization processing, and enhances the accuracy of subsequent
processing; the ESO observer module estimates the
system state and the total disturbance in real time, and the
adaptive capacity and the anti-interference performance to the complex environment are improved; the
information fusion and
time sequence alignment module ensures information synchronization and accuracy through fusion
processing and multi-dimensional
state vector construction, meanwhile, the timeliness of a control decision is ensured, and the overall
control effect is improved; the DDPG strategy network and the
security layer module are combined with strategy optimization and multi-layer security constraints, continuous and safe control actions are output, and the stability and security of control are improved; and the
actuator interface module realizes control instruction transmission, forms closed-loop feedback, adjusts a control strategy in real time, and improves the
dynamic balance capability and the overall stability of the
system.