Performing Aggressive Maneuvers using Iterative Learning Control

被引:0
|
作者
Purwin, Oliver [1 ]
D'Andrea, Raffaello [2 ]
机构
[1] Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
[2] Swiss Fed Inst Technol, Dept Mech & Proc Engn, Zurich, Switzerland
来源
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents an algorithm to iteratively drive a system quickly from one state to another. A simple model which captures the essential features of the system is used to compute the reference trajectory as the solution of an optimal control problem. Based on a lifted domain description of that same model an iterative learning controller is synthesized by solving a linear least-squares problem. The non-causality of the approach makes it possible to anticipate recurring disturbances. Computational requirements are modest, allowing controller update in real-time. The experience gained from successful maneuvers can be used to significantly reduce transients when performing similar motions. The algorithm is successfully applied to a real quadrotor unmanned aerial vehicle. The results are presented and discussed.
引用
收藏
页码:2645 / +
页数:2
相关论文
共 50 条
  • [1] Performing and extending aggressive maneuvers using iterative learning control
    Purwin, Oliver
    D'Andrea, Raffaello
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2011, 59 (01) : 1 - 11
  • [2] Motion Control of Autonomous Aggressive Vehicle Maneuvers
    Arab, Aliasghar
    Yu, Kaiyan
    Yi, Jingang
    Liu, Yingshu
    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2016, : 1663 - 1668
  • [3] Safety-Guaranteed Learning-Predictive Control for Aggressive Autonomous Vehicle Maneuvers
    Arab, Aliasghar
    Yi, Jingang
    2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2020, : 1036 - 1041
  • [4] An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane
    Alhazza, Khaled A.
    Hasan, Abdullah M.
    Alghanim, Khaled A.
    Masoud, Ziyad N.
    SHOCK AND VIBRATION, 2014, 2014
  • [5] Trajectory generation and control for precise aggressive maneuvers with quadrotors
    Mellinger, Daniel
    Michael, Nathan
    Kumar, Vijay
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2012, 31 (05): : 664 - 674
  • [6] Motion Planning and Control of Autonomous Aggressive Vehicle Maneuvers
    Arab, Aliasghar
    Yu, Kaiyan
    Yu, Jiaxing
    Yi, Jingang
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024, 21 (02) : 1488 - 1500
  • [7] Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers
    Lee, Hyungyu
    Cheng, Sheng
    Wu, Zhuohuan
    Lim, Jaeyoung
    Siegwart, Roland
    Hovakimyan, Naira
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2025, 10 (02): : 1130 - 1137
  • [8] Differential Flatness Based Control of a Rotorcraft For Aggressive Maneuvers
    Ferrin, Jeff
    Leishman, Robert
    Beard, Randy
    McLain, Tim
    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 2688 - 2693
  • [9] Aggressive flight maneuvers
    Hauser, J
    Hindman, R
    PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 1997, : 4186 - 4191
  • [10] Iterative learning control using information database
    Arif, M
    Ishihara, T
    Inooka, H
    SICE '98 - PROCEEDINGS OF THE 37TH SICE ANNUAL CONFERENCE: INTERNATIONAL SESSION PAPERS, 1998, : 995 - 998