Semi-analytic finite horizon control of an underactuated manipulator.
Chenzi HuangKlaus RöbenackCarsten KnollPublished in: SSD (2016)
Keyphrases
- finite horizon
- mechanical systems
- control method
- infinite horizon
- control system
- optimal policy
- degrees of freedom
- control policies
- optimal stopping
- markov decision processes
- receding horizon
- robot manipulators
- optimal control
- inventory control
- inventory models
- control strategy
- single product
- multistage
- master slave
- robotic arm
- control strategies
- real time
- average cost
- inventory policy
- markov decision process
- path planning
- dynamic programming
- decision making