Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning

no code implementations • 6 Apr 2020 • Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil, Valmik Prabhu, Claire J. Tomlin, S. Shankar Sastry

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules.

reinforcement-learning Reinforcement Learning (RL)

Feedback Linearization for Unknown Systems via Reinforcement Learning

no code implementations • 29 Oct 2019 • Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar, Shreyas Arora, Valmik Prabhu, S. Shankar Sastry, Claire J. Tomlin

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics.

reinforcement-learning Reinforcement Learning (RL)