Iterative Learning-Based Path Optimization for Repetitive Path Planning, With Application to 3-D Crosswind Flight of Airborne Wind Energy Systems

Iterative Learning-Based Robotic Controller With Prescribed Human–Robot Interaction Force

“…However, most of the optimization methods require the gradient of the index function [32]- [34] to iteratively update η j . This part introduces an RLS-based estimator that has the same structure as the one designed in [35] to estimate the gradient of H (η j ) and the Adam optimization method is applied to iteratively find the optimal solution of Eq. (20).…”

Electricity in the air: Insights from two decades of advanced control research and experimental flight testing of airborne wind energy systems

“…Because this requires a more detailed aerodynamic and flight dynamic characterization of the lifting body, comprised of airfoils, the resulting model is termed the unifoil model. The model is detailed in Cobb, Barton, Fathy, and Vermillion (2019b) and is summarized here.…”

“…The expressions for 𝐹 long and 𝑀 rot can be quite complicated, as they depend on detailed aerodynamic relationships. Readers are referred to Cobb et al (2019b) for further details in this regard.…”

Data-Driven Hierarchical Predictive Learning in Unknown Environments

“…In classical ILC, the controller uses tracking error ata from previous task iterations to better track the provided trajectory during the current iteration. Recent work has also explored reference-free ILC for applications whose goals are better defined through a performance metric, such as autonomous racing or harvesting wind energy [4]- [6].…”