Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories.
Frédéric BoyerVincent LebastardFabien CandelierFederico RendaMazen AlamirPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- optimal control
- continuous stirred tank reactor
- control problems
- dynamic programming
- feedback control
- mobile robot
- control strategy
- risk sensitive
- class of nonlinear systems
- dynamic model
- optimal control problems
- physical constraints
- multi robot
- robotic systems
- dynamical systems
- lyapunov function
- control law
- infinite horizon
- neural network
- autonomous robots
- brownian motion
- reinforcement learning
- adaptive control
- path planning