计算机科学
人工神经网络
稳健性(进化)
空气动力学
风速
人工智能
风力发电
控制理论(社会学)
控制工程
工程类
控制(管理)
航空航天工程
气象学
物理
电气工程
基因
化学
生物化学
作者
Michael O’Connell,Guanya Shi,Xichen Shi,Kamyar Azizzadenesheli,Anima Anandkumar,Yisong Yue,Soon‐Jo Chung
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2022-05-04
卷期号:7 (66)
被引量:90
标识
DOI:10.1126/scirobotics.abm6597
摘要
Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on aircraft maneuverability is not well understood, it is challenging to design effective robot controllers using traditional control design methods. We present Neural-Fly, a learning-based approach that allows rapid online adaptation by incorporating pretrained representations through deep learning. Neural-Fly builds on two key observations that aerodynamics in different wind conditions share a common representation and that the wind-specific part lies in a low-dimensional space. To that end, Neural-Fly uses a proposed learning algorithm, domain adversarially invariant meta-learning (DAIML), to learn the shared representation, only using 12 minutes of flight data. With the learned representation as a basis, Neural-Fly then uses a composite adaptation law to update a set of linear coefficients for mixing the basis elements. When evaluated under challenging wind conditions generated with the Caltech Real Weather Wind Tunnel, with wind speeds up to 43.6 kilometers/hour (12.1 meters/second), Neural-Fly achieves precise flight control with substantially smaller tracking error than stateof-the-art nonlinear and adaptive controllers. In addition to strong empirical performance, the exponential stability of Neural-Fly results in robustness guarantees. Last, our control design extrapolates to unseen wind conditions, is shown to be effective for outdoor flights with only onboard sensors, and can transfer across drones with minimal performance degradation.
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