Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions.
Seyed Mohammad Khansari-ZadehAude BillardPublished in: Robotics Auton. Syst. (2014)
Keyphrases
- lyapunov function
- dynamical systems
- autonomous robots
- control law
- connectionist networks
- sufficient conditions
- control method
- optimal control
- mobile robot
- reinforcement learning
- nonlinear dynamical systems
- state space
- adaptive control
- video sequences
- real time
- predictive state representations
- robotic systems
- input output
- phase space
- optimal solution
- tracking error