University of Twente Student Theses


Learning feedback potential maps using large-scale optimal control

Velthuijs, R.J. (2023) Learning feedback potential maps using large-scale optimal control.

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Abstract:Impedance controllers are widely used to stabilize feedback systems. Although simple to deploy, these linear controllers are often not optimized for the task at hand. Therefore, a generalized nonlinear feedback law defined as the gradient of the potential and dissipation maps is presented. An optimal control framework is built around the idea that solving a large number of optimal control problems for the same feedback maps will make them optimal for a certain task. The maps can be adapted to a specific scenario by changing the desired task, constraints and objective functions. 2 case studies for 1-DoF positioning tasks are explored and the resulting maps analyzed.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Systems and Control MSc (60359)
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