Model-Free Feedback Control Synthesis From Expert Demonstration

被引：2

作者：

Blanchini, Franco ^{[1
]}

Dabbene, Fabrizio ^{[2
]}

Fenu, Gianfranco ^{[3
]}

Pellegrino, Felice Andrea ^{[3
]}

Salvato, Erica ^{[3
]}

机构：

[1] Univ Udine, Dipartimento Sci Matematiche Informat & Fis, I-33100 Udine, Italy

[2] CNR IEIIT, Inst Elect Comp & Telecommun Engn, I-10129 Turin, Italy

[3] Univ Trieste, Dept Engn & Architecture, I-34127 Trieste, Italy

来源：

IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷

关键词：

Trajectory; Mathematical models; Feedback control; Marine vehicles; Noise measurement; Discrete-time systems; Cost function; Stabilizing feedback control; data-driven control; linear systems; RELATIVELY OPTIMAL-CONTROL; INVERSION-BASED CONTROL; CONTROL DESIGN; SYSTEMS;

D O I：

10.1109/LCSYS.2023.3251575

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We show how it is possible to synthesize a stabilizing feedback control, in the complete absence of a model, starting from the open-loop control generated by an expert operator, capable of driving a system to a specific set-point. We assume that the system is linear and discrete time. We propose two different controls: a linear dynamic and a static, piecewise linear, one. We show the performance of the proposed controllers on a ship steering problem.

引用

页码：1604 / 1609

页数：6

共 28 条

[11] Direct nonlinear control design: The virtual reference feedback tuning (VRFT) approach [J].