Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function.
Haitong MaJianyu ChenShengbo Eben LiZiyu LinYang GuanYangang RenSifa ZhengPublished in: IROS (2021)
Keyphrases
- reinforcement learning
- control policy
- control problems
- optimal control
- model free
- control system
- function approximation
- robot control
- newly defined
- function approximators
- control theory
- control method
- control strategies
- piecewise affine
- process control
- robotic systems
- control strategy
- data driven
- dual space
- state space
- learning process