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Title:Flight evaluation of deep model reference adaptive control
Author(s):Virdi, Jasvir
Advisor(s):Chowdhary, Girish
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Adaptive Control
Machine Learning
Safety Critical Systems
Disturbance rejection
Abstract:This thesis presents flight test results for a new neuroadaptive architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC). This 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. Through experiments on a real quadcopter platform, it is shown that DMRAC can outperform state of the art controllers in different flight regimes while having long-term learning abilities. This makes DMRAC a highly powerful architecture for high-performance control of nonlinear systems.
Issue Date:2020-05-12
Type:Thesis
URI:http://hdl.handle.net/2142/108017
Rights Information:Copyright 2020 Jasvir Virdi
Date Available in IDEALS:2020-08-26
Date Deposited:2020-05


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