Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems

Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex nonlinear dynamics of Lagrangian systems to a set of decoupled double integrators, and then a standard, outer-loop controller can be used to calculate the commanded acceleration for the linearized system... (read more)

PDF Abstract
No code implementations yet. Submit your code now

Datasets


  Add Datasets introduced or used in this paper

Results from the Paper


  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.

Methods used in the Paper


METHOD TYPE
🤖 No Methods Found Help the community by adding them if they're not listed; e.g. Deep Residual Learning for Image Recognition uses ResNet