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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Friedrich, S. R.; Buss, M. 
Title:
A robust stability approach to robot reinforcement learning based on a parameterization of stabilizing controllers 
Abstract:
Reinforcement learning has become more and more popular in robotics for acquiring feedback controllers. Many approaches aim for learning a controller from scratch, i.e., data-driven without any modeling of the physical plant. However, stability properties of the closed loop are often not considered, or established only a-posteriori or ad hoc. We propose to employ reinforcement learning in the context of model-based control, allowing to learn in a framework of stabilizing controller...    »
 
Keywords:
Adaptation models; Adaptive control; Learning (artificial intelligence); Robotcontrol; Stability analysis 
Book / Congress title:
2017 IEEE International Conference on Robotics and Automation (ICRA) 
Organization:
IEEE 
Date of congress:
May 29 - June 3, 2017 
Year:
2017 
Month:
May 
Pages:
3365-3372 
Language:
en 
Semester:
SS 17