Barrier Lyapunov Function-Based Safe Reinforcement Learning for Autonomous Vehicles With Optimized Backstepping.
Yuxiang ZhangXiaoling LiangDongyu LiShuzhi Sam GeBingzhao GaoHong ChenTong Heng LeePublished in: IEEE Trans. Neural Networks Learn. Syst. (2024)
Keyphrases
- lyapunov function
- autonomous vehicles
- nonlinear systems
- reinforcement learning
- control law
- adaptive control
- optimal control
- robot control
- control strategy
- path planning
- stability analysis
- control method
- obstacle avoidance
- autonomous robots
- sufficient conditions
- control algorithm
- closed loop
- control scheme
- fuzzy control
- fuzzy model
- learning rate
- controller design
- multiagent systems
- motion planning
- state space
- fuzzy systems
- control system
- mobile robot
- learning algorithm
- multi agent
- neural network
- dynamical systems
- hopfield neural network
- control strategies
- fuzzy controller
- multi modal
- autonomous agents