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Title:

Adjustable and Adaptive Control for an Unstable Mobile Robot Using Imitation Learning with Trajectory Optimization

Document type:
Zeitschriftenaufsatz
Author(s):
Dengler, C.; Lohmann, B.
Abstract:
In this contribution, we develop a feedback controller in the form of a parametric function for a mobile inverted pendulum. The control both stabilizes the system and drives it to target positions with target orientations. A design of the controller based only on a cost function is difficult for this task, which is why we choose to train the controller using imitation learning on optimized trajectories. In contrast to popular approaches like policy gradient methods, this approach allows us to s...     »
Keywords:
Imitation learning; adaptive control; Machine learning; mobile robot
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
Robotics
Year:
2020
Year / month:
2020-04
Quarter:
2. Quartal
Month:
Apr
Journal issue:
Vol. 9 / Issue 2
Covered by:
Scopus
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.3390/robotics9020029
WWW:
https://www.mdpi.com/2218-6581/9/2/29
Publisher:
MDPI AG
E-ISSN:
2218-6581
Submitted:
21.02.2020
Accepted:
22.04.2020
Date of publication:
25.04.2020
Semester:
SS 20
TUM Institution:
Lehrstuhl für Regelungstechnik
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