Optimizing reference commands for concurrent learning adaptive-optimal control of uncertain dynamical systems

Maximilian Mühlegg, Girish Chowdhary, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Optimal control of autonomous aircraft with modeling uncertainties is a challenging problem, especially when onboard computational resources are limited, and in presence of modeling uncertainty. A concurrent learning based adaptive-optimal control architecture is presented that is suitable for implementation on resource constrained platforms. Exponential parameter convergence properties of concurrent learning adaptive controllers are leveraged to reduce modeling uncertainty through adaptation. A multiparametric quadratic optimization basedmodel predictive control approach is used to optimally shape the reference command. Since the reference model is preselected in our approach, the optimal solutions for several flight conditions can be generated a-priori. Hence, the optimal control problem does not need to be solved online, significantly reducing the computational burden. Exponentially convergent stability bounds are presented for the entire adaptiveoptimal control architecture. Numerical simulations show significant increase in controller performance under input and state constraints.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control (GNC) Conference
StatePublished - Sep 16 2013
Externally publishedYes
EventAIAA Guidance, Navigation, and Control (GNC) Conference - Boston, MA, United States
Duration: Aug 19 2013Aug 22 2013

Publication series

NameAIAA Guidance, Navigation, and Control (GNC) Conference

Other

OtherAIAA Guidance, Navigation, and Control (GNC) Conference
CountryUnited States
CityBoston, MA
Period8/19/138/22/13

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Mühlegg, M., Chowdhary, G., & Holzapfel, F. (2013). Optimizing reference commands for concurrent learning adaptive-optimal control of uncertain dynamical systems. In AIAA Guidance, Navigation, and Control (GNC) Conference (AIAA Guidance, Navigation, and Control (GNC) Conference).