Performance of Linear Decentralized H-Infinity Optimal Control for Industrial Robotic Manipulators.
Jonghoon ParkWan Kyun ChungYoungil YoumPublished in: ICRA (1999)
Keyphrases
- optimal control
- robotic manipulator
- control problems
- control strategy
- dynamic programming
- linear quadratic
- control scheme
- feedback control
- control law
- reinforcement learning
- infinite horizon
- degrees of freedom
- robotic systems
- optimal control problems
- mathematical model
- genetic algorithm
- lyapunov stability
- end effector
- linear model
- control system