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Authors: Djordje Mitrovic ; Stefan Klanke and Sethu Vijayakumar

Affiliation: Institute of Perception, Action and Behavior, School of Informatics, University of Edinburgh, United Kingdom

ISBN: 978-989-8111-30-2

Keyword(s): Learning dynamics, optimal control, adaptive control, robot simulation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Optimization Algorithms

Abstract: Optimal feedback control has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. The optimal feedback control law for systems with non-linear dynamics and non-quadratic costs can be found by iterative methods, such as the iterative Linear Quadratic Gaussian (iLQG) algorithm. So far this framework relied on an analytic form of the system dynamics, which may often be unknown, difficult to estimate for more realistic control systems or may be subject to frequent systematic changes. In this paper, we present a novel combination of learning a forward dynamics model within the iLQG framework. Utilising such adaptive internal models can compensate for complex dynamic perturbations of the controlled system in an online fashion. The specific adaptive framework introduced lends itself to a computationally more efficient implementation of the iLQG optimisation without sacrificing control accuracy – allowing the method to sca le to large DoF systems. (More)

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Paper citation in several formats:
Mitrovic D.; Klanke S.; Vijayakumar S. and (2008). OPTIMAL CONTROL WITH ADAPTIVE INTERNAL DYNAMICS MODELS.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8111-30-2, pages 141-148. DOI: 10.5220/0001484501410148

@conference{icinco08,
author={Djordje Mitrovic and Stefan Klanke and Sethu Vijayakumar},
title={OPTIMAL CONTROL WITH ADAPTIVE INTERNAL DYNAMICS MODELS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2008},
pages={141-148},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001484501410148},
isbn={978-989-8111-30-2},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - OPTIMAL CONTROL WITH ADAPTIVE INTERNAL DYNAMICS MODELS
SN - 978-989-8111-30-2
AU - Mitrovic, D.
AU - Klanke, S.
AU - Vijayakumar, S.
PY - 2008
SP - 141
EP - 148
DO - 10.5220/0001484501410148

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