T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach
Traditional stochastic optimal control methods that attempt to obtain an optimal feedback policy for nonlinear systems are computationally intractable. In this letter, we derive a decoupling principle between the open-loop plan, and the closed-loop feedback gains, which leads to a deterministic pert...
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| Veröffentlicht in: | IEEE robotics and automation letters 2019-10, Vol.4 (4), p.3457-3464 |
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| container_title | IEEE robotics and automation letters |
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| creator | Parunandi, Karthikeya Sharma Chakravorty, Suman |
| description | Traditional stochastic optimal control methods that attempt to obtain an optimal feedback policy for nonlinear systems are computationally intractable. In this letter, we derive a decoupling principle between the open-loop plan, and the closed-loop feedback gains, which leads to a deterministic perturbation feedback control based solution to fully observable stochastic optimal control problems, that is near-optimal. Extensive numerical simulations validate the theory, revealing a wide range of applicability, coping with medium levels of noise. The performance is compared against a set of baselines in several difficult robotic planning and control examples that show near identical performance to nonlinear model predictive control while requiring much lesser computational effort. |
| doi_str_mv | 10.1109/LRA.2019.2926948 |
| format | Article |
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| ispartof | IEEE robotics and automation letters, 2019-10, Vol.4 (4), p.3457-3464 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Computer simulation Control methods Control systems Decoupling Feedback control Mathematical models Motion and path planning motion control nonholonomic motion planning Nonlinear control Nonlinear systems Optimal control optimization and optimal control Perturbation Perturbation methods Planning Predictive control Robot control Robots Stochastic processes Trajectory Trajectory control Trajectory optimization |
| title | T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach |
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