Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators.
Stephen McIlvannaNhat Nguyen MinhYuzhu SunMien VanWasif NaeemPublished in: CoRR (2022)
Keyphrases
- robot manipulators
- reinforcement learning
- inverse kinematics
- control of robot manipulators
- adaptive controller
- trajectory planning
- sliding mode control
- control scheme
- end effector
- sliding mode
- optimal control
- dynamic model
- variable structure
- control method
- pid controller
- real time
- state space
- artificial intelligence
- adaptive control
- robot control
- control system
- neural network