Successive Galerkin Approximations to the Nonlinear Optimal Control of an Underwater Robotic Vehicle.
Timothy W. McLainRandal W. BeardPublished in: ICRA (1998)
Keyphrases
- optimal control
- class of nonlinear systems
- lyapunov function
- linear quadratic
- autonomous underwater vehicle
- continuous stirred tank reactor
- real time
- control problems
- dynamic programming
- control strategy
- neural network controller
- feedback control
- infinite horizon
- risk sensitive
- mobile robot
- differential equations
- brownian motion
- optimal control problems
- reinforcement learning
- partial differential equations
- control law
- robotic systems
- autonomous robots
- nonlinear equations