Feedback Linearization for Uncertain Systems via Reinforcement Learning
Tyler Westenbroek,David Fridovich-Keil,Eric Mazumdar,Shreyas Arora,Valmik Prabhu,S. Shankar Sastry,Claire J. Tomlin,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. Feedback linearization is a technique from nonlinear control which renders the input-output dynamics of a nonlinear plant linear under application of an appropriate feedback controller. Once a lin...
