Meta-Learning for Adaptive Control with Automated Mirror Descent

원문 초록

Adaptive control achieves concurrent parameter learning and stable control under uncertainties that are linearly parameterized with known nonlinear features. Nonetheless, it is often difficult to obtain such nonlinear features. To address this difficulty, recent progress has been made in integrating meta-learning with adaptive control to learn such nonlinear features from data. However, these meta-learning-based control methods rely on classical adaptation laws using gradient descent, which is confined to the Euclidean geometry. In this paper, we propose a novel method that combines meta-learning and adaptation laws based on mirror descent, a popular generalization of gradient descent, which takes advantage of the potentially non-Euclidean geometry of the parameter space. In our approach, meta-learning not only learns the nonlinear features but also searches for a suitable mirror-descent potential function that optimizes control performance. Through numerical simulations, we demonstrate the effectiveness of the proposed method in learning efficient representations and real-time tracking control performance under uncertain dynamics.