Patent Document ID: 9234329
Application ID: 14185955
Patent Status: 1

Claim One:
1. An adaptive control system for a machine implement, comprising: a machine implement of a machine; and an adaptive controller operatively coupled to the machine implement, said adaptive controller including a processor configured to: create a reference model of a terrain including one or more reference operating conditions associated with the terrain; receive a position of the machine implement relative to the terrain from at least one position detection system; receive data regarding operating conditions of the terrain; compare the position with a target position stored in a memory; compare the data regarding the operating conditions with data stored in the reference model of the terrain stored in the memory; update the reference model based upon a change in the operating conditions; and adjust the position of the machine implement based upon the comparisons and based upon an updated reference model of the operating conditions of the terrain, wherein the processor is configured to update the reference model using an L1 norm, the processor being configured to compare the data regarding the operating conditions using the L1 norm.