Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
IEEE International Conference on Robotics and Automation（2022）
Key words
computationally-tractable models,data-driven approach,data-driven methods,data-driven Spectral Submanifold Reduction,different control tasks,dynamic trajectory tracking tasks vis-á-vis,dynamical models,extracting control-oriented,generalizability,high-dimensional robots,high-dimensional systems,Koopman operator-based approaches,learning-based approaches,low-dimensional attractors,low-dimensional models,nonlinear optimal control,nonlinear robotic systems,robotic system,track trajectories,training data,training trajectories
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