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Filtering by: Creator Mamakoukas, Giorgos Keyword Controllability-based control Keyword Koopman operators Subject Robotics

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1. Real-Time Safe Control for Model-Based and Data-Driven Robotics

Description:: Robot dynamics are typically highly nonlinear and their control is a challenging research topic without a single overarching algorithm that demonstrates the best performance. In this thesis, I derive a nonlinear control algorithm that uses an analytical, closed-form solution to compute feedback with controllability-based guarantees for convergence. The proposed algorithm,...
Keyword:: Obstacle avoidance, Koopman operators, Data-driven control, Controllability-based control, Sequential action control, and Stability
Subject:: Robotics
Creator:: Mamakoukas, Giorgos
Owner:: Scholarly Digital Publishing
Language:: en
Date Uploaded:: 06/28/2021
Date Created:: 2021-01-01
Resource Type:: Dissertation
Alternate Identifier:: etdadmin_upload_819790 and http://dissertations.umi.com/northwestern:15586