Computation of Feedback Control Laws Based on Switched Tracking of Demonstrations

Autor:	Fejlek, Jiří, Ratschan, Stefan
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: 22 pages, 5 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.12639 Zobrazit plný text záznamu View this record from Arxiv