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Safe And Fast Tracking On A Robot Manipulator: Robust Mpc And Neural Network Control
IEEE ROBOTICS AND AUTOMATION LETTERS, no. 2 (2020): 3050-3057
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Abstract
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs). The result is a new approach for complex tasks with nonlinear, uncertain, and constrained dynamics as...More
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