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Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems

Taylor, Andrew J. and Dorobantu, Victor D. and Le, Hoang M. and Yue, Yisong and Ames, Aaron D. (2019) Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 6878-6884. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20190327-085838590

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Abstract

Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge, weakening theoretical guarantees and causing implementation failures on physical systems. This paper develops a machine learning framework centered around Control Lyapunov Functions (CLFs) to adapt to parametric uncertainty and unmodeled dynamics in general robotic systems. Our proposed method proceeds by iteratively updating estimates of Lyapunov function derivatives and improving controllers, ultimately yielding a stabilizing quadratic program model-based controller. We validate our approach on a planar Segway simulation, demonstrating substantial performance improvements by iteratively refining on a base model-free controller.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS40897.2019.8967820DOIArticle
https://ieeexplore.ieee.org/document/8967820PublisherArticle
https://arxiv.org/abs/1903.01577arXivDiscussion Paper
ORCID:
AuthorORCID
Taylor, Andrew J.0000-0002-5990-590X
Yue, Yisong0000-0001-9127-1989
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. This work was supported in part by funding and gifts from DARPA, Intel, PIMCO, and Google.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)HR00111890035
IntelUNSPECIFIED
PIMCOUNSPECIFIED
GoogleUNSPECIFIED
Record Number:CaltechAUTHORS:20190327-085838590
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190327-085838590
Official Citation:A. J. Taylor, V. D. Dorobantu, H. M. Le, Y. Yue and A. D. Ames, "Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 6878-6884.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94189
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:27 Mar 2019 22:24
Last Modified:03 Aug 2020 21:14

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