18 citations · 19 across the 2 of their papers we have counts for
2 papers
cs.RO2020★ 1 cited
Exponentially Stable First Order Control on Matrix Lie Groups
Valmik Prabhu, Amay Saxena, S. Shankar Sastry
We present a novel first order controller for systems evolving on matrix Lie groups, a major use case of which is Cartesian velocity control on robot manipulators. This controller…
math.OC2019★ 18 cited
Feedback Linearization for Unknown Systems via Reinforcement Learning
Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar +4
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant…