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Adaptive Dynamic Programming for Model-free Tracking of Trajectories with Time-varying Parameters
In order to autonomously learn to control unknown systems optimally w.r....
09/16/2019 ∙ by Florian Köpf, et al. ∙
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OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation
We propose a new algorithm to simplify the controller development for di...
04/14/2021 ∙ by Jiayi Wei, et al. ∙
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Safe learning-based trajectory tracking for underactuated vehicles with partially unknown dynamics
Underactuated vehicles have gained much attention in the recent years du...
09/14/2020 ∙ by Thomas Beckers, et al. ∙
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Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System
While many theoretical works concerning Adaptive Dynamic Programming (AD...
10/26/2020 ∙ by Florian Köpf, et al. ∙
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Feedback Linearization for Quadrotors with a Learned Acceleration Error Model
This paper enhances the feedback linearization controller for multirotor...
05/28/2021 ∙ by Alexander Spitzer, et al. ∙
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Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
We propose a two-phase risk-averse architecture for controlling stochast...
03/09/2021 ∙ by Sleiman Safaoui, et al. ∙
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On the Controllers Based on Time Delay Estimation for Robotic Manipulators
05/30/2021 ∙ by M. Reza J. Harandi, et al. ∙
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Assurance of asymptotic trajectory tracking in robotic manipulators with a continuous control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that this aim is achieved by designing a traditional model-free controller together with time delay estimation (TDE) such that neither dynamical parameters nor conservative assumptions on the external disturbance are required. In this note, the purpose is to show that this claim is wrong. Additionally, modification of this method for some special cases is presented.
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