Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions.
Charles DawsonZengyi QinSicun GaoChuchu FanPublished in: CoRL (2021)
Keyphrases
- nonlinear dynamics
- robust stability
- control theory
- stability analysis
- nonlinear functions
- adaptive control
- class of nonlinear systems
- linear matrix inequality
- lyapunov function
- optimal control
- control system
- variable structure
- adaptive neural
- highly nonlinear
- dynamical systems
- neural network
- control scheme
- control method
- tracking control
- neural model
- neural network controller
- rbf network
- tracking error
- parallel distributed compensation
- linear systems
- single neuron
- fuzzy logic
- model predictive control
- sufficient conditions
- predictive control
- input output
- robot manipulators
- real time control
- feedback control
- parameter tuning
- control parameters
- nonlinear systems