Real-time inverse optimal control for a planar robot

@article{Ornelas2010RealtimeIO,
  title={Real-time inverse optimal control for a planar robot},
  author={Fernando Ornelas and Edgar N. S{\'a}nchez and Alexander G. Loukianov},
  journal={2010 IEEE International Symposium on Intelligent Control},
  year={2010},
  pages={2332-2337}
}
This paper presents an inverse optimal neural controller, which is constituted by the combination of two techniques: a) inverse optimal control to avoid solving the Hamilton Jacobi Bellman (HJB) equation associated to nonlinear system optimal control, and b) an on-line neural identifier, which uses a recurrent neural network, trained with the extended… CONTINUE READING