Optimal Control of Underactuated Manipulators via Actuation Redundancy.
Benedito C. O. MacielMarcel BergermanMarco H. TerraPublished in: ICRA (2001)
Keyphrases
- optimal control
- degrees of freedom
- control law
- motion planning
- dynamic programming
- control strategy
- control problems
- feedback control
- class of nonlinear systems
- mechanical systems
- adaptive control
- path planning
- risk sensitive
- reinforcement learning
- optimal control problems
- lyapunov function
- robotic systems
- brownian motion
- infinite horizon
- control theory
- mathematical model
- nonlinear systems
- master slave
- state space
- machine learning