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This paper addresses the control problem of transportation of a slung load by a multi-rotor. Control of the slung load system cannot be achieved with usual controllers for multi-rotors because motion of the load is highly coupled with the multi-rotor. Although many controllers have been developed for the system, there still exist several problems. For instance, in trajectory-following control, many...
Differential Dynamic Programming (DDP) can effectively solve an optimal control problem; however, it cannot deal with temporally changing environments such as an appearance of a moving obstacle. In this paper, we present the segmentation of locally optimal trajectories under an environment with a moving obstacle. The agent finds locally optimal trajectories by sampling Gaussian samples according to...
In this paper, we investigate an adaptive control for fast adaptation without high-frequency oscillation, using feedback linearization and optimal control modification. Generally, a large adaptive gain is used to achieve fast adaptation and this can cause high-frequency oscillations in standard model-reference adaptive control. The fast adaptation approach is based on an optimal control problem to...
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