Nonlinear optimal control of an AUV and its actuator failure compensation.
Mehmet Selçuk ArslanNaoto FukushimaIchiro HagiwaraPublished in: ICARCV (2008)
Keyphrases
- optimal control
- class of nonlinear systems
- lyapunov function
- linear quadratic
- control problems
- continuous stirred tank reactor
- neural network controller
- feedback control
- dynamic programming
- control strategy
- control system
- reinforcement learning
- risk sensitive
- optimal control problems
- infinite horizon
- autonomous underwater vehicle
- control law
- brownian motion
- stochastic control
- machine learning
- linear systems
- nonlinear equations
- variable structure
- control algorithm
- lyapunov stability
- closed loop