Finite Horizon Nonlinear Energy Optimizing Control in a Force Augmenting Hybrid Exoskeleton for the Elbow Joint.
Fermín CastilloRicardo López-GutiérrezOmar Jacobo Santos SánchezAntónio OsórioSergio SalazarRogelio LozanoPublished in: IEEE Trans. Control. Syst. Technol. (2020)
Keyphrases
- position control
- finite horizon
- robotic manipulator
- control scheme
- force control
- control system
- control strategies
- closed loop
- infinite horizon
- dc motor
- control strategy
- optimal stopping
- optimal policy
- robot arm
- markov decision processes
- control policies
- inventory models
- degrees of freedom
- pid controller
- inventory control
- end effector
- single product
- yield management
- robot manipulators
- highly nonlinear
- non stationary
- reinforcement learning
- markov decision process
- control method
- optimal control
- mathematical model
- bayesian networks
- machine learning