Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion.
Shishir KolathayaJacob ReherAyonga HereidAaron D. AmesPublished in: ACC (2018)
Keyphrases
- robotic systems
- robust stability
- robot control
- control theory
- mobile robot
- autonomous robots
- control loop
- closed loop
- neural network
- adaptive control
- nonlinear systems
- human operators
- nonlinear functions
- nonlinear dynamics
- control scheme
- control signals
- reinforcement learning
- control system
- legged locomotion
- control method
- real time
- asymptotic stability
- robot motion
- state space
- stability analysis
- input data
- optimal control