Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.
Sami HaddadinRoman WeitschatFelix HuberMehmet Can ÖzparpucuNico MansfeldAlin Albu-SchäfferPublished in: ISRR (2013)
Keyphrases
- optimal control
- real time
- dynamic programming
- control problems
- feedback control
- control strategy
- reinforcement learning
- mobile robot
- optimal control problems
- risk sensitive
- class of nonlinear systems
- infinite horizon
- control system
- control law
- brownian motion
- lyapunov function
- robotic systems
- linear quadratic
- mathematical model