Learning-Based Nonlinear $H^\infty$ Control via Game-Theoretic Differential Dynamic Programming
Abstract
In this work, we present a learning-based nonlinear control algorithm that guarantee system performance under learned dynamics and disturbance estimate. The Gaussian Process (GP) regression is utilized to update the nominal dynamics of the system and provide disturbance estimate based on data gathered through interaction with the system. A soft-constrained differential game associated with the disturbance attenuation problem in nonlinear control is then formulated to obtain the nonlinear controller. The differential game is solved through the min-max Game-Theoretic Differential Dynamic Programming (GT-DDP) algorithm in continuous time. Simulation results on a quadcopter system demonstrate the efficiency of the learning-based control algorithm in handling external disturbances.
Cite
@article{arxiv.2107.04507,
title = {Learning-Based Nonlinear $H^\infty$ Control via Game-Theoretic Differential Dynamic Programming},
author = {Wei Sun and Theodore B. Trafalis},
journal= {arXiv preprint arXiv:2107.04507},
year = {2021}
}