1,962 research outputs found
Differential Dynamic Programming for time-delayed systems
Trajectory optimization considers the problem of deciding how to control a
dynamical system to move along a trajectory which minimizes some cost function.
Differential Dynamic Programming (DDP) is an optimal control method which
utilizes a second-order approximation of the problem to find the control. It is
fast enough to allow real-time control and has been shown to work well for
trajectory optimization in robotic systems. Here we extend classic DDP to
systems with multiple time-delays in the state. Being able to find optimal
trajectories for time-delayed systems with DDP opens up the possibility to use
richer models for system identification and control, including recurrent neural
networks with multiple timesteps in the state. We demonstrate the algorithm on
a two-tank continuous stirred tank reactor. We also demonstrate the algorithm
on a recurrent neural network trained to model an inverted pendulum with
position information only.Comment: 7 pages, 6 figures, conference, Decision and Control (CDC), 2016 IEEE
55th Conference o
Safe Learning of Quadrotor Dynamics Using Barrier Certificates
To effectively control complex dynamical systems, accurate nonlinear models
are typically needed. However, these models are not always known. In this
paper, we present a data-driven approach based on Gaussian processes that
learns models of quadrotors operating in partially unknown environments. What
makes this challenging is that if the learning process is not carefully
controlled, the system will go unstable, i.e., the quadcopter will crash. To
this end, barrier certificates are employed for safe learning. The barrier
certificates establish a non-conservative forward invariant safe region, in
which high probability safety guarantees are provided based on the statistics
of the Gaussian Process. A learning controller is designed to efficiently
explore those uncertain states and expand the barrier certified safe region
based on an adaptive sampling scheme. In addition, a recursive Gaussian Process
prediction method is developed to learn the complex quadrotor dynamics in
real-time. Simulation results are provided to demonstrate the effectiveness of
the proposed approach.Comment: Submitted to ICRA 2018, 8 page
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