A concurrent learning adaptive-optimal control architecture for nonlinear systems

Girish Chowdhary; Maximillian Miihlegg; Jonathan P. How; Florian Holzapfel

doi:10.1109/CDC.2013.6759991

A concurrent learning adaptive-optimal control architecture for nonlinear systems

Girish Chowdhary, Maximillian Miihlegg, Jonathan P. How, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A concurrent learning adaptive-optimal control architecture is presented that combines learning-focused direct adaptive controllers with model predictive control for guaranteeing safety during adaptation for nonlinear systems. Exponential parameter convergence properties of concurrent learning adaptive controllers are leveraged to learn a feedback linearization signal that reduces a nonlinear system to an approximation of a linear system for which an optimal solution is known or can be easily computed online. Stability of the overall architecture is analyzed, and numerical simulations on a wing-rock dynamics model are presented in presence of significant system uncertainty, parameter variation, and measurement noise.

Original language	English (US)
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	868-873
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6759991
State	Published - 2013
Externally published	Yes
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: Dec 10 2013 → Dec 13 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	12/10/13 → 12/13/13

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2013.6759991

Library availability

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Chowdhary, G., Miihlegg, M., How, J. P., & Holzapfel, F. (2013). A concurrent learning adaptive-optimal control architecture for nonlinear systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 868-873). Article 6759991 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6759991

A concurrent learning adaptive-optimal control architecture for nonlinear systems. / Chowdhary, Girish; Miihlegg, Maximillian; How, Jonathan P. et al.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 868-873 6759991 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chowdhary, G, Miihlegg, M, How, JP & Holzapfel, F 2013, A concurrent learning adaptive-optimal control architecture for nonlinear systems. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6759991, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 868-873, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 12/10/13. https://doi.org/10.1109/CDC.2013.6759991

Chowdhary G, Miihlegg M, How JP, Holzapfel F. A concurrent learning adaptive-optimal control architecture for nonlinear systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc. 2013. p. 868-873. 6759991. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2013.6759991

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A concurrent learning adaptive-optimal control architecture for nonlinear systems

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