Learning Real-time Closed Loop Robotic Reaching from Monocular Vision by Exploiting A Control Lyapunov Function Structure.
Zheyu ZhuangJürgen LeitnerRobert E. MahonyPublished in: IROS (2019)
Keyphrases
- closed loop
- control system
- control loop
- control law
- real time
- open loop
- lyapunov function
- feedback control
- monocular vision
- adaptive control
- guaranteed cost
- control scheme
- control theory
- nonlinear systems
- tracking error
- learning algorithm
- autonomous robots
- control strategy
- control method
- robotic systems
- mobile robot
- neural network
- sliding mode
- reinforcement learning
- adaptive fuzzy
- convergence rate
- visual servoing
- pid controller