A Reinforcement Learning - Adaptive Control Architecture for Morphing Academic Article uri icon


  • 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 specified operating conditions, and an episodic Reinforcement Learning simulation is developed to learn the optimal shape change policy. The methodology is demonstrated by a numerical example of a 3-D morphing air vehicle, which simultaneously tracks a specified trajectory and autonomously morphs over a set of shapes corresponding to flight conditions along the trajectory. Results presented in the paper show that this methodology is capable of learning the required shape and morphing into it, and accurately tracking the reference trajectory in the presence of parametric uncertainties and initial error conditions. Copyright 2005 by the American Institute of Aeronautics and Astronautics, Inc.'All rights reserved.

published proceedings

  • AIAA 1st Intelligent Systems Technical Conference

author list (cited authors)

  • Valasek, J., Tandale, M., & Rong, J.

citation count

  • 16

complete list of authors

  • Valasek, John||Tandale, Monish||Rong, Jie

publication date

  • June 2004