LQR木を用いたリミットサイクルを持つハイブリッドシステムの計画と制御
Towards Planning and Control of Hybrid Systems with Limit Cycle using LQR Trees
LQR木を拡張し、目標リミットサイクルを持つハイブリッドシステムのためのマルチクエリ復帰ポリシーを提案。コンパス歩行モデルの動的歩行リミットサイクルをランダム初期条件から安定化できることをシミュレーションで示した。
著者: Ramkumar Natarajan, Siddharthan Rajasekaran, Jonathan D. Taylor
分類: cs.RO
原文アブストラクト
We present a multi-query recovery policy for a hybrid system with goal limit cycle. The sample trajectories and the hybrid limit cycle of the dynamical system are stabilized using locally valid Time Varying LQR controller policies which probabilistically cover a bounded region of state space. The original LQR Tree algorithm builds such trees for non-linear static and non-hybrid systems like a pendulum or a cart-pole. We leverage the idea of LQR trees to plan with a continuous control set, unlike methods that rely on discretization like dynamic programming to plan for hybrid dynamical systems where it is hard to capture the exact event of discrete transition. We test the algorithm on a compass gait model by stabilizing a dynamic walking hybrid limit cycle with point foot contact from random initial conditions. We show results from the simulation where the system comes back to a stable behavior with initial position or velocity perturbation and noise.
