Data‐driven model‐free adaptive attitude control for morphing vehicles

Adaptive Quaternion Attitude Control of Aerodynamic Flight Control Vehicles

Conventional quaternion based methods have been extensively employed for spacecraft attitude control where the aerodynamic forces can be neglected. In the presence of aerodynamic forces, the flight attitude control is more complicated due to aerodynamic moments and inertia uncertainties. In this paper, a robust nero-adaptive quat...

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Adaptive Control for Autonomous Underwater Vehicles

We describe a novel integration of Planning with Probabilistic State Estimation and Execution. The resulting system is a unified representational and computational framework based on declarative models and constraintbased temporal plans. The work is motivated by the need to explore the oceans more cost-effectively through the use of Autonomous Underwater Vehicles (AUV), requiring them to be goa...

Adaptive Control for Guidance of Underwater Vehicles

A Reinforcement Learning - Adaptive Control Architecture for Morphing

This paper develops a control methodology for morphing, which combines Machine Learning and Adaptive Dynamic Inversion Control. The morphing control function, which uses Reinforcement Learning, is integrated with the trajectory tracking function, which uses Structured Adaptive Model Inversion Control. Optimality is addressed by cost functions representing optimal shapes corresponding to specifi...