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) |
| Link to this item: | https://purl.utwente.nl/essays/94269 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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