Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots.
John Irvin AloraMattia CenedeseEdward SchmerlingGeorge HallerMarco PavonePublished in: CoRR (2022)
Keyphrases
- optimal control
- data driven
- high dimensional
- class of nonlinear systems
- low dimensional
- lyapunov function
- linear quadratic
- continuous stirred tank reactor
- control problems
- dynamic programming
- control strategy
- feedback control
- infinite horizon
- risk sensitive
- mobile robot
- multi robot
- control law
- reinforcement learning
- autonomous robots
- sample size
- dimensionality reduction
- optimal control problems
- spectral analysis
- brownian motion
- neural network controller
- feature space
- data points
- robotic systems
- manifold learning
- variable structure
- data mining
- stability analysis
- linear systems
- humanoid robot
- constrained optimization