Optimal Control of Robotic Systems Using Finite Elements for Time Integration of Covariant Control Equations.
Juan Antonio Rojas QuinteroJorge Villalobos-ChinVíctor SantibáñezPublished in: IEEE Access (2021)
Keyphrases
- optimal control
- robotic systems
- finite element
- control problems
- impedance control
- control strategy
- feedback control
- linear quadratic
- control architecture
- dynamic programming
- finite difference
- numerical solution
- class of nonlinear systems
- stochastic control
- brownian motion
- reinforcement learning
- autonomous robots
- vision system
- control law
- mobile robot
- infinite horizon
- hamilton jacobi bellman
- boundary element
- finite element model
- robotic manipulator
- optimal control problems
- control system
- mathematical model
- control theory
- object manipulation
- multi robot
- lyapunov function
- hamilton jacobi
- scale space
- control method
- linear systems
- machine learning