Projected inverse dynamics control and optimal control for robots in contact with the environment: A comparison.
Valerio OrtenziRustam StolkinJeffrey A. KuoMichael N. MistryPublished in: IROS (2015)
Keyphrases
- optimal control
- control problems
- control strategy
- inverse dynamics
- mobile robot
- feedback control
- dynamic programming
- autonomous robots
- optimal control problems
- reinforcement learning
- robotic systems
- infinite horizon
- control law
- stochastic control
- control method
- real robot
- impedance control
- robot teams
- robot control
- linear quadratic
- nonlinear systems
- adaptive control
- control algorithm
- dynamic environments
- control system
- multi robot
- path planning
- lyapunov function
- vision system
- decision making
- machine learning
- neural network