首页|Computation of feedback control laws based on switched tracking of demonstrations

Computation of feedback control laws based on switched tracking of demonstrations

扫码查看
原文链接
  • NETL
  • NSTL
  • Elsevier
© 2024 European Control AssociationA common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator。 In this paper， we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory optimizer) to automatically synthesize feedback controllers for steering a system described by ordinary differential equations into a goal set。 The resulting feedback control law switches between the demonstrations that it uses as reference trajectories。 In comparison to the direct use of trajectory optimization as a control law， for example， in the form of model predictive control， this allows for a much simpler and more efficient implementation of the controller。 The synthesis algorithm comes with rigorous convergence and optimality results， and computational experiments confirm its efficiency。

Learning from demonstrationsOptimal control

Fejlek J.、Ratschan S.

展开 >

The Czech Academy of Sciences Institute of Computer ScienceThe Czech Academy of Sciences Institute of Computer Science||Czech Technical University in Prague Faculty of Nuclear Sciences and Physical Engineering Department of Mathematics||

The Czech Academy of Sciences Institute of Computer Science

2024

10.1016/j.ejcon.2024.101118

European journal of control

European journal of control

SCI
ISSN：0947-3580
年,卷(期)：2024.80(Pt.2)
  • 44