Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots.
John Irvin AloraMattia CenedeseEdward SchmerlingGeorge HallerMarco PavonePublished in: ICRA (2023)
Keyphrases
- optimal control
- data driven
- high dimensional
- class of nonlinear systems
- low dimensional
- linear quadratic
- lyapunov function
- continuous stirred tank reactor
- control problems
- dynamic programming
- neural network controller
- control strategy
- risk sensitive
- feedback control
- multi robot
- mobile robot
- dimensionality reduction
- brownian motion
- control law
- manifold learning
- robotic systems
- infinite horizon
- spectral analysis
- feature space
- variable structure
- data points
- autonomous robots
- kernel pca
- stochastic control
- optimal control problems
- reinforcement learning
- stability analysis
- humanoid robot
- linear systems
- real time
- shape analysis
- lyapunov stability
- machine learning