Automatic LQR Tuning Based on Gaussian Process Global Optimization

6 May 2016Alonso MarcoPhilipp HennigJeannette BohgStefan SchaalSebastian Trimpe

This paper proposes an automatic controller tuning framework based on linear optimal control combined with Bayesian optimization. With this framework, an initial set of controller gains is automatically improved according to a pre-defined performance objective evaluated from experimental data... (read more)

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