Nonlinear Optimal Control for Swing Up and Stabilization of the Acrobot via Stable Manifold Approach: Theory and Experiment.
Takamasa HoribeNoboru SakamotoPublished in: IEEE Trans. Control. Syst. Technol. (2019)
Keyphrases
- optimal control
- class of nonlinear systems
- linear quadratic
- lyapunov function
- control problems
- dynamic programming
- feedback control
- control strategy
- optimal control problems
- continuous stirred tank reactor
- reinforcement learning
- infinite horizon
- control law
- risk sensitive
- sufficient conditions
- finite difference
- brownian motion
- mathematical model
- adaptive neural
- low dimensional