On optimality of passivity based controllers in discrete-time.
Salvatore MonacoDorothée Normand-CyrotPublished in: Syst. Control. Lett. (2015)
Keyphrases
- impedance control
- sliding mode
- control strategy
- trajectory tracking
- markov chain
- control law
- control system
- markov processes
- optimal solution
- model free
- adaptive control
- force control
- robot manipulators
- physical constraints
- optimal control problems
- reinforcement learning
- controller design
- closed loop
- sliding mode control
- steady state
- evolutionary algorithm