TY - GEN
T1 - Deep Model Reference Adaptive Control
AU - Joshi, Girish
AU - Chowdhary, Girish
N1 - *Supported by the Laboratory Directed Research and Development program at Sandia National Laboratories, a multi-mission laboratory managed and operated by National Technology and Engineering Solutions of Sandia, LLC., a wholly owned subsidiary of Honeywell International, Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA-0003525.
PY - 2019/12
Y1 - 2019/12
N2 - We present a new neuroadaptive architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC). Our architecture utilizes the power of deep neural network representations for modeling significant nonlinearities while marrying it with the boundedness guarantees that characterize MRAC based controllers. We demonstrate through simulations and analysis that DMRAC can subsume previously studied learning based MRAC methods, such as concurrent learning and GP-MRAC. This makes DMRAC a highly powerful architecture for high-performance control of nonlinear systems with long-term learning properties.
AB - We present a new neuroadaptive architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC). Our architecture utilizes the power of deep neural network representations for modeling significant nonlinearities while marrying it with the boundedness guarantees that characterize MRAC based controllers. We demonstrate through simulations and analysis that DMRAC can subsume previously studied learning based MRAC methods, such as concurrent learning and GP-MRAC. This makes DMRAC a highly powerful architecture for high-performance control of nonlinear systems with long-term learning properties.
UR - http://www.scopus.com/inward/record.url?scp=85082494212&partnerID=8YFLogxK
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U2 - 10.1109/CDC40024.2019.9029173
DO - 10.1109/CDC40024.2019.9029173
M3 - Conference contribution
AN - SCOPUS:85082494212
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4601
EP - 4608
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -