Adjustable and Adaptive Control for an Unstable Mobile Robot Using Imitation Learning with Trajectory Optimization
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 thi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-04-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/9/2/29 |