A nonlinear optimal control approach for the spherical robot.
Gerasimos G. RigatosKrishna BusawonJorge PomaresPatrice WiraMasoud AbbaszadehPublished in: IECON (2018)
Keyphrases
- optimal control
- class of nonlinear systems
- lyapunov function
- linear quadratic
- dynamic programming
- mobile robot
- control problems
- continuous stirred tank reactor
- neural network controller
- control strategy
- feedback control
- reinforcement learning
- control law
- infinite horizon
- optimal control problems
- risk sensitive
- robotic systems
- path planning
- humanoid robot
- real time
- autonomous robots
- robot manipulators
- brownian motion
- force control
- motion planning
- variable structure
- state space
- multi robot
- nonlinear systems
- degrees of freedom
- manipulation tasks
- trajectory tracking
- multistage
- mathematical model
- control scheme