Safe reinforcement learning for affine nonlinear systems with state constraints and input saturation using control barrier functions.
Shihan LiuLijun LiuZhen YuPublished in: Neurocomputing (2023)
Keyphrases
- nonlinear systems
- dead zone
- adaptive control
- tracking control
- reinforcement learning
- controller design
- adaptive neural
- nonlinear functions
- inverted pendulum
- tracking error
- adaptive fuzzy
- stability analysis
- control law
- adaptive neural control
- lyapunov function
- state space
- control problems
- fuzzy systems
- control method
- fuzzy model
- fuzzy control
- learning rate
- optimal control
- learning algorithm
- control system
- control strategy
- input output
- fuzzy controller
- control scheme
- feedback control
- mathematical model
- genetic programming
- control algorithm
- mobile robot