Computation of Feedback Control Laws Based on Switched Tracking of Demonstrations
Fuente:
arXiv
Salvato in:
| Autori principali: | , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2020
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866929267358564352 |
|---|---|
| author | Fejlek, Jiří Ratschan, Stefan |
| author_facet | Fejlek, Jiří Ratschan, Stefan |
| contents | A 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2011_12639 |
| institution | arXiv |
| publishDate | 2020 |
| record_format | arxiv |
| spellingShingle | Computation of Feedback Control Laws Based on Switched Tracking of Demonstrations Fejlek, Jiří Ratschan, Stefan Systems and Control A 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. |
| title | Computation of Feedback Control Laws Based on Switched Tracking of Demonstrations |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2011.12639 |