AGILE ADAPTIVE CONTROL

A method using agile adaptive control (A2C) includes receiving, as input to an agile adaptive control model, planning data including a desired path of a vehicle, and receiving, as input to the agile adaptive control model, vehicle data of the vehicle. The method also includes determining, based on the planning data and the vehicle data, that a position error of the vehicle exceeds a position threshold, and initiating an agile learn model of the adaptive control model to update initial adaptive design parameters based on the planning data and the vehicle data. The method also includes generating updated adaptive design parameters and generating, using a control model of the adaptive control model, a control command based on the updated adaptive design parameters.