Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators.

Stephen McIlvanna Nhat Nguyen Minh Yuzhu Sun Mien Van Wasif Naeem

Published 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