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Concurrent Learning Adaptive Model Predictive Control

  • Conference paper
Advances in Aerospace Guidance, Navigation and Control

Abstract

A concurrent learning adaptive-optimal control architecture for aerospace systems with fast dynamics is presented. Exponential convergence properties of concurrent learning adaptive controllers are leveraged to guarantee a verifiable learning rate while guaranteeing stability in presence of significant modeling uncertainty. The architecture switches to online-learned model based Model Predictive Control after an online automatic switch gauges the confidence in parameter estimates. Feedback linearization is used to reduce a nonlinear system to an idealized linear system for which an optimal feasible solution can be found online. It is shown that the states of the adaptively feedback linearized system stay bounded around those of the idealized linear system, and sufficient conditions for asymptotic convergence of the states are presented. Theoretical results and numerical simulations on a wing-rock problem with fast dynamics establish the effectiveness of the architecture.

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Author information

Authors and Affiliations

  1. Massachusetts Institute of Technology, Cambridge, USA

    Girish Chowdhary & Jonathan P. How

  2. Technische Universität München, Munchen, Germany

    Maximilian Mühlegg & Florian Holzapfel

Authors
  1. Girish Chowdhary
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  2. Maximilian Mühlegg
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  3. Jonathan P. How
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  4. Florian Holzapfel
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Corresponding author

Correspondence to Girish Chowdhary .

Editor information

Editors and Affiliations

  1. Faculty of Aerospace Engineering, TU Delft, Kluyverweg 1, Delft, 2629, Netherlands

    Qiping Chu

  2. , Faculty of Aerospace Engineering, TU Delft, Kluyverweg 1, Delft, 2629, Netherlands

    Bob Mulder

  3. , Faculty of Aerospace Engineering, TU Delft, Kluyverweg 1, Delft, 2629, Netherlands

    Daniel Choukroun

  4. , Faculty of Aerospace Engineering, TU Delft, Kluyverweg 1, Delft, 2629, Netherlands

    Erik-Jan van Kampen

  5. , Faculty of Aerospace Engineering, TU Delft, Kluyverweg 1, Delft, 2629 HS, Netherlands

    Coen de Visser

  6. Robotics and Mechatronics Center, System Dynamics and Control, German Aerospace Center (DLR), Münchner Straße 20, Wessling, 82234, Germany

    Gertjan Looye

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Chowdhary, G., Mühlegg, M., How, J.P., Holzapfel, F. (2013). Concurrent Learning Adaptive Model Predictive Control. In: Chu, Q., Mulder, B., Choukroun, D., van Kampen, EJ., de Visser, C., Looye, G. (eds) Advances in Aerospace Guidance, Navigation and Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38253-6_3

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  • DOI: https://doi.org/10.1007/978-3-642-38253-6_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-38252-9

  • Online ISBN: 978-3-642-38253-6

  • eBook Packages: EngineeringEngineering (R0)

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