A Nonlinear Optimal Control Approach for a Lower-Limb Robotic Exoskeleton.
Gerasimos G. RigatosMasoud AbbaszadehJorge PomaresPatrice WiraPublished in: Int. J. Humanoid Robotics (2020)
Keyphrases
- optimal control
- class of nonlinear systems
- linear quadratic
- lyapunov function
- continuous stirred tank reactor
- control problems
- dynamic programming
- feedback control
- infinite horizon
- control strategy
- neural network controller
- risk sensitive
- brownian motion
- reinforcement learning
- optimal control problems
- control law
- robotic systems
- mobile robot
- real time
- control scheme
- position control
- degrees of freedom
- stability analysis
- manipulation tasks
- control method