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cs.RO2024
Robust Agility via Learned Zero Dynamics Policies
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez +3
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a map…
eess.SY2024
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies
William Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin +2
Stabilizing underactuated systems is an inherently challenging control task due to fundamental limitations on how the control input affects the unactuated dynamics. Decomposing the…