Model-free feedback control synthesis from expert demonstration

This repository contains the code related to the paper:
"Model-free feedback control synthesis from expert demonstration"

Authors: Franco Blanchini; Fabrizio Dabbene; Gianfranco Fenu; Felice Andrea Pellegrino; Erica Salvato^*

To be cited as follows:
@article{blanchini2023model,
  title={Model-free feedback control synthesis from expert demonstration},
  author={Blanchini, Franco and Dabbene, Fabrizio and Fenu, Gianfranco and Pellegrino, Felice Andrea and Salvato, Erica},
  journal={IEEE Control Systems Letters},
  year={2023},
  publisher={IEEE}
  }

Abstract

We show how it is possible to synthesize a stabilizing feedback control, in the complete absence of a model, starting from the open-loop control generated by an expert operator, capable of driving a system to a specific set-point. We assume that the system is linear and discrete time. We propose two different controls: a linear dynamic and a static, piecewise linear, one. We show the performance of the proposed controllers on a ship steering problem.

Code Info

The code has been tested on Matlab 2021b