Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations

Alimzhan Sultangazin; Luigi Pannocchi; Lucas Fraile; Paulo Tabuada

ICRA 2022poster6 citations

Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations

Alimzhan Sultangazin, Luigi Pannocchi, Lucas Fraile, Paulo Tabuada

Abstract

In this paper, we revisit the problem of learning a stabilizing controller from a finite number of demonstrations by an expert. By focusing on feedback linearizable systems, we show how to combine expert demonstrations into a stabilizing controller, provided that demonstrations are sufficiently long and there are at least n+1n+1 of them, where nn is the number of states of the system being controlled. The results are experimentally demonstrated on a CrazyFlie 2.0 quadrotor.

BibTeX

@inproceedings{icra2022_watchandlearnlea,
  title = {Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations},
  author = {Alimzhan Sultangazin and Luigi Pannocchi and Lucas Fraile and Paulo Tabuada},
  booktitle = {ICRA 2022},
  year = {2022}
}