Swarm-Optimized Adaptive Augmentation of Missile Autopilot

In particular, the paper investigates the application of an online learning technique to learn and optimize the gains of a three-loop topology autopilot for a planar missile modeled with nonlinear dynamics and nonlinear aerodynamics forces and moments. The classical autopilot for a missile is based on a three-loop topology, where each loop consists of tunable proportional gains. An adaptive three-loop autopilot is constructed by augmenting the classical autopilot's fixed-gain controllers with a learning-based controller, which is recursively optimized using retrospective cost optimization. Numerical simulations show that online learning improves the tracking performance of the classical autopilot in both nominal and off-nominal interception scenarios.