This paper presents a generalized approach for Imitation Learning (IL) control, employing least-squares optimization to replicate an expert behavior for a given task. While Nonlinear Model Predictive Control (NMPC) is renowned for its predictive capabilities, constraint-handling and adaptability, its computational complexity often inhibits real-time implementation. IL control overcomes this challenge by establishing a data-driven input-output mapping function represented in quadratic forms, enabling it to effectively mimic NMPC's performance. The effectiveness of this approach is demonstrated through simulations conducted on a fixed-wing F-18 aircraft with 6 degrees-of-freedom rigid body dynamics. The study highlights the potential of least-squares optimization techniques and quadratic functions in IL. By leveraging NMPC-generated data, IL approach replicates complex behaviors in real-time while minimizing control signal fluctuations, promising advancements in autonomous flight in dynamic aerospace environments.
Real-Time Imitation NMPC Using Least-Squares Optimization for Aircraft Trajectory Tracking
2024-09-29
865795 byte
Conference paper
Electronic Resource
English
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