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In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach.
Episodic learning with control lyapunov functions for uncertain robotic systems
A. J. Taylor, V. D. Dorobantu, H. M. Le, Y. Yue, and A. D. Ames · 1903
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Learning for safety-critical control with control barrier functions
A. J. Taylor, A. Singletary, Y. Yue, and A. D. Ames · 1912
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Nonlinear systems: analysis, stability, and control
S. Sastry · 1999
Earlier work this paper cites.
Rabbit: a testbed for advanced control theory
C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-De-Wit, and J. W. Grizzle · 2003
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Towards the unification of locomotion and manipulation through control lyapunov functions and quadratic programs
A. D. Ames and M. Powell · 2013
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Deterministic policy gradient algorithms
D. Silver, G. Lever, N. Heess, T. Degris, D. Wierstra, and M. Riedmiller · 2014
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Torque saturation in bipedal robotic walking through control lyapunov function-based quadratic programs
K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle · 2015
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L1 adaptive control for bipedal robots with control lyapunov function based quadratic programs
Q. Nguyen and K. Sreenath · 2015
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End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
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Exponential control barrier functions for enforcing high relative-degree safety-critical constraints
Q. Nguyen and K. Sreenath · 2016
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Goal-driven dynamics learning via bayesian optimization
S. Bansal, R. Calandra, T. Xiao, S. Levine, and C. J. Tomiin · 2017
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Safe model-based reinforcement learning with stability guarantees
F. Berkenkamp, M. Turchetta, A. Schoellig, and A. Krause · 2017
Cited alongside, same era.
Frost: Fast robot optimization and simulation toolkit
A. Hereid and A. D. Ames · 2017
The lyapunov neural network: Adaptive stability certification for safe learning of dynamical systems
S. M. Richards, F. Berkenkamp, and A. Krause · 2018
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An uncertainty-based control lyapunov approach for control-affine systems modeled by gaussian process
J. Umlauft, L. Pöhler, and S. Hirche · 2018
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A general safety framework for learning-based control in uncertain robotic systems
J. F. Fisac, A. K. Akametalu, M. N. Zeilinger, S. Kaynama, J. Gillula, and C. J. Tomlin · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Feedback linearization for unknown systems via reinforcement learning
T. Westenbroek, D. Fridovich-Keil, E. Mazumdar, S. Arora, V. Prabhu, S. S. Sastry, and C. J. Tomlin · 2019
Later among the works it cites.
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Cited alongside, same era.
Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics
A. D. Ames, K. Galloway, K. Sreenath, and J. W. Grizzle
Cited in the paper.
Control barrier function based quadratic programs with application to adaptive cruise control
A. D. Ames, J. W. Grizzle, and P. Tabuada
Cited in the paper.
Optimal robust time-varying safety-critical control with application to dynamic walking on moving stepping stones
Q. Nguyen and K. Sreenath
Cited in the paper.
Improving input-output linearizing controllers for bipedal robots via reinforcement learning
F. Castañeda, M. Wulfman, A. Agrawal, T. Westenbroek, C. J. Tomlin, S. S. Sastry, and K. Sreenath · 2020
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