A Composite Control Strategy for Quadruped Robot by Integrating Reinforcement Learning and Model-Based Control.
Shangke LyuHan ZhaoDonglin WangPublished in: IROS (2023)
Keyphrases
- control strategy
- optimal control
- control strategies
- reinforcement learning
- control method
- control system
- operating conditions
- mathematical model
- control algorithm
- control scheme
- quadruped robot
- fuzzy logic control
- speed control
- predictive control
- fuzzy controller
- matlab simulink
- control law
- model free
- force control
- sliding mode control
- pi controller
- sliding mode
- adaptive control
- hopf bifurcation
- controller design
- feedback control
- learning algorithm
- variable structure
- fuzzy logic controller
- rough terrain
- pid controller
- biped robot
- dynamic programming
- mobile robot