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eess.SY2022
On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control
Tyler Westenbroek, Anand Siththaranjan, Mohsin Sarwari +2
Optimal control is an essential tool for stabilizing complex nonlinear systems. However, despite the extensive impacts of methods such as receding horizon control, dynamic programm…
eess.SY2020★ 6 cited
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal +4
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common…