Consistency monitoring of Adaptive Controllers using Bayesian linear regression

Robert Szukalski, Maximilian Muhlegg, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A method based on Bayesian linear regression for output monitoring of an adaptive controller is presented. As a basis, a feedback linearized system is augmented by a Model Reference Adaptive Controller. The application of Bayesian linear regression with online recorded data allows the prediction of the adaptive control output and the detection of off-nominal behavior. Additionally, the presented algorithm explicitly computes the probability of the observation error lying within a predefined error interval. The concept is shown in numerical simulation of an aircraft subject to wingrock dynamics.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages177-182
Number of pages6
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Szukalski, R., Muhlegg, M., & Johnson, E. (2015). Consistency monitoring of Adaptive Controllers using Bayesian linear regression. In ACC 2015 - 2015 American Control Conference (pp. 177-182). [7170731] (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7170731