Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics.
Ya-Chien ChangSicun GaoPublished in: ICRA (2021)
Keyphrases
- control theory
- nonlinear systems
- adaptive control
- nonlinear dynamics
- control system
- stability analysis
- network architecture
- fault tolerant control
- neural network
- control law
- control method
- robot manipulators
- real time
- control scheme
- optimal control
- controller design
- lyapunov function
- equilibrium point
- learning rules
- data acquisition
- sufficient conditions
- adaptive neural
- tracking error
- dead zone