Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control.
Ganesh Kumar Hari Shankar Lal DasBertrand TonduFlorent ForgetJérôme ManhesOlivier StassePhilippe SouèresPublished in: IROS (2016)
Keyphrases
- optimal control
- control law
- force control
- control strategy
- control problems
- dynamic programming
- feedback control
- control system
- reinforcement learning
- risk sensitive
- robot arm
- control scheme
- optimal control problems
- class of nonlinear systems
- position control
- brownian motion
- infinite horizon
- human arm
- control theory
- nonlinear systems
- control method
- degrees of freedom
- lyapunov function
- closed loop
- continuous stirred tank reactor
- adaptive control
- linear quadratic
- real time
- control algorithm
- evolutionary algorithm
- data mining