Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions.
Desong DuShaohang HanNaiming QiHaitham Bou-AmmarJun WangWei PanPublished in: ICRA (2023)
Keyphrases
- robot control
- reinforcement learning
- mobile robot
- autonomous robots
- motion control
- visual servoing
- unstructured environments
- subsumption architecture
- adaptive control
- pid controller
- control theory
- motor control
- sufficient conditions
- experimental data
- cerebellar model articulation controller
- control law
- nonlinear systems
- stability analysis
- control method
- function approximation
- robotic systems