Adaptive Dynamic Programming-based Decentralized Sliding Mode Optimal Control for Modular and Reconfigurable Robots.
Tianjiao AnXiaodong MenXinyao ZhangYuanchun LiBo DongPublished in: SSCI (2019)
Keyphrases
- optimal control
- dynamic programming
- sliding mode
- control law
- control strategy
- adaptive control
- variable structure
- infinite horizon
- feedback control
- mobile robot
- sliding mode controller
- sliding mode control
- control system
- control method
- nonlinear systems
- lyapunov stability
- state space
- control theory
- actor critic
- reinforcement learning
- control scheme
- control algorithm
- optimal control problems
- trajectory tracking
- tracking error
- autonomous robots
- lyapunov function
- stability analysis
- adaptive fuzzy
- closed loop
- optimal policy
- particle swarm optimization
- dynamic model
- robotic systems
- markov decision processes
- mathematical model
- multi robot
- machine learning