TY - GEN
T1 - Learning to Control Using a Convex Combination of Controllers
AU - Kumar, Athindran Ramesh
AU - Ramadge, Peter J.
N1 - Funding Information:
Athindran Ramesh Kumar acknowledges support from a first year fellowship at Princeton University. Both authors are with the Department of Electrical and Computer Engineering, Princeton University, New Jersey, USA. email: arkumar@princeton.edu
Publisher Copyright:
© 2021 American Automatic Control Council.
PY - 2021/5/25
Y1 - 2021/5/25
N2 - We explore the idea of online learning and control in concert with a form of robust control. The objective is to avoid excessive transients during the learning phase. We examine a controller formed as a convex combination of an aggressive and conservative controller. The stability of the convex combination is achieved using an adaptation law obtained from the appropriate derivatives of the spectral radius. We provide numerical results on a sinusoidal reference tracking experiment to verify the efficacy of our technique.
AB - We explore the idea of online learning and control in concert with a form of robust control. The objective is to avoid excessive transients during the learning phase. We examine a controller formed as a convex combination of an aggressive and conservative controller. The stability of the convex combination is achieved using an adaptation law obtained from the appropriate derivatives of the spectral radius. We provide numerical results on a sinusoidal reference tracking experiment to verify the efficacy of our technique.
UR - http://www.scopus.com/inward/record.url?scp=85111939637&partnerID=8YFLogxK
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U2 - 10.23919/ACC50511.2021.9483042
DO - 10.23919/ACC50511.2021.9483042
M3 - Conference contribution
AN - SCOPUS:85111939637
T3 - Proceedings of the American Control Conference
SP - 4976
EP - 4982
BT - 2021 American Control Conference, ACC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 American Control Conference, ACC 2021
Y2 - 25 May 2021 through 28 May 2021
ER -