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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