NDLI: Proactive planning for persistent missions using composite model-reference adaptive control and approximate dynamic programming

Content Provider	IEEE Xplore Digital Library
Author	Redding, J. Dydek, Z. How, J.P. Vavrina, M.A. Vian, J.
Copyright Year	2011
Description	Author affiliation: Aerosp. Controls Lab., MIT, Cambridge, MA, USA (Redding, J.) \|\| Aeronaut. & Astronaut, MIT, Cambridge, MA, USA (How, J.P.) \|\| Tech. Fellow at Boeing R&T, Seattle, WA, USA (Vian, J.) \|\| Active Adaptive Controls Lab., MIT, Cambridge, MA, USA (Dydek, Z.) \|\| Res. Eng. at Boeing R&T, Seattle, WA, USA (Vavrina, M.A.)
Abstract	This paper extends prior work on the persistent mission problem where real-time changes in agent capability are included in the problem formulation. Here, we couple the mission planner with a low-level adaptive controller in real time to: (1) Provide robustness against actuator degradations and (2) Use parameters internal to the adaptive controller to provide valuable insight into the physical capabilities of the agent. These parameters, in conjunction with sensor health information, form a more complete measure of agent capability, which is used online and in forward planning to enable both reactive and proactive behavior. Flight results are presented for a persistent mission scenario where actuator degradations are induced to demonstrate: (1) The robustness of the composite adaptive controller and its successful integration with the agent level health-monitoring and mission-level planning systems and (2) The reactive and proactive qualities of the planning system in persistently re-tasking agents under actuator and sensor health degradations.
Sponsorship	Control Syst. Soc.
Starting Page	2332
Ending Page	2337
File Size	764978
Page Count	6
File Format	PDF
ISBN	9781457700804
ISSN	07431619
e-ISBN	9781457700811
DOI	10.1109/ACC.2011.5990922
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Actuators Mathematical model Equations Planning Fuels Vehicles Degradation
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Optimal tracking control for ship course using approximate dynamic programming method

Optimal control scheme for nonlinear systems with saturating actuator using ε-iterative adaptive dynamic programming

Agent capability in persistent mission planning using approximate dynamic programming

Dynamic programming and adaptive processes: Mathematical foundation

Stochastic dynamic programming control policies for fuel efficient in-traffic driving

Decentralized learning-based planning for multiagent missions in the presence of actuator failures

Adaptive Feedback Control by Constrained Approximate Dynamic Programming

Functional Equations in Adaptive Processes and Random Transmission

Approximate verification of a class of adaptive control systems

Proactive planning for persistent missions using composite model-reference adaptive control and approximate dynamic programming

Similar Documents

Optimal tracking control for ship course using approximate dynamic programming method

Optimal control scheme for nonlinear systems with saturating actuator using ε-iterative adaptive dynamic programming

Agent capability in persistent mission planning using approximate dynamic programming

Dynamic programming and adaptive processes: Mathematical foundation

Stochastic dynamic programming control policies for fuel efficient in-traffic driving

Decentralized learning-based planning for multiagent missions in the presence of actuator failures

Adaptive Feedback Control by Constrained Approximate Dynamic Programming

Functional Equations in Adaptive Processes and Random Transmission

Approximate verification of a class of adaptive control systems

Proactive planning for persistent missions using composite model-reference adaptive control and approximate dynamic programming