A robust stability approach to robot reinforcement learning based on a parameterization of stabilizing controllers.
Stefan R. FriedrichMartin BussPublished in: ICRA (2017)
Keyphrases
- reinforcement learning
- robust stability
- real robot
- stability criterion
- mobile robot
- iterative learning control
- real time control
- lyapunov function
- adaptive control
- chaotic systems
- nonlinear systems
- state space
- asymptotic stability
- sufficient conditions
- path planning
- control system
- robotic systems
- learning algorithm
- autonomous robots
- multi robot
- machine learning
- neural network
- humanoid robot
- controller design
- real time
- optimal control
- fuzzy logic controller
- computational intelligence
- membership functions
- genetic algorithm
- trajectory tracking
- decision making
- dynamic programming
- dynamic environments
- control strategy
- control strategies
- control law
- motion planning
- fuzzy controller