Computation of feedback control laws based on switched tracking of demonstrations
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985807%3A_____%2F24%3A00602785" target="_blank" >RIV/67985807:_____/24:00602785 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21340/24:00382248
Result on the web
<a href="https://doi.org/10.1016/j.ejcon.2024.101118" target="_blank" >https://doi.org/10.1016/j.ejcon.2024.101118</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ejcon.2024.101118" target="_blank" >10.1016/j.ejcon.2024.101118</a>
Alternative languages
Result language
angličtina
Original language name
Computation of feedback control laws based on switched tracking of demonstrations
Original language description
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.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GA21-09458S" target="_blank" >GA21-09458S: Quasi-Decision Procedures for First-Order Theories of Real Functions</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
European Journal of Control
ISSN
0947-3580
e-ISSN
1435-5671
Volume of the periodical
80
Issue of the periodical within the volume
Part B
Country of publishing house
GB - UNITED KINGDOM
Number of pages
13
Pages from-to
101118
UT code for WoS article
001379656100001
EID of the result in the Scopus database
2-s2.0-85205221992