Integrate On-The-Fly Control (UTAustin - Franck /Ufuk)

[podhrmic]

On-The-Fly Control of Unknown Smooth Systems from Limited Data

Integration story

Upon failure, for example, a complete or partial loss of control surface/actuator, or loss of a wing, switch to the best effort control strategy.

Deliverables (Use subs/OFC branch):

• on the fly controller
• Jupyter NB to demo the performance.

Tasks

• longitudinal control fragment of the inner-loop
• port into the new CSAF
• longitudinal+latitudinal controller which replaces the current inner-loop
• Replace the entire inner-loop + outer-loop with a on-the-fly controller with objectives/constraints on state.

Stretch

• Explore other features:
  • monitoring
  • conditional acceptance of autopilot's commands/references based on reachability/performance constraints.

[podhrmic]

In GitLab by @zutshi on Oct 19, 2020, 14:49

Next steps

• Check in first draft
• Port to new CSAF
• Add actuator models (@zutshi)
• Replace the entire LLC and check level flight, and then gcas

[podhrmic]

In GitLab by @zutshi on Nov 19, 2020, 01:48

Status

• First draft checked in. Replaces longitudinal control
• Second draft checked in. Replaces entire LLC during the GCAS maneuver. Works very well.

Next Steps

@franck-at-gitlab

• Check performance of OFC at initial conditions near the default_init_state
• Check performance of OFC at different regions of state space (alt=[40000, 60000], vt=[500,1000]) and (alt=[1000, 10,000], vt=[150,200])
• Add comparison plots, OFC vs LQR
• Replace autopilot and llc

@zutshi

• Port code to CSAF
• Add actuator models with failures