Safe Nonlinear Control Under Control Constraints via Reachability, Optimal Control and Reinforcement Learning

Safe Nonlinear Control Under Control Constraints via Reachability, Optimal Control and Reinforcement Learning

Autonomous robots in the real world have nonlinear dynamics with actuators that are subject to constraints. The combination of the two poses complicates the task of designing stabilizing controllers that can guarantee safety, which we denote as the stabilize-avoid problem. Existing control-based tec...

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Bibliographic Details
Main Author:	So, Oswin
Other Authors:	Fan, Chuchu
Format:	Thesis
Published:	Massachusetts Institute of Technology 2024
Online Access:	https://hdl.handle.net/1721.1/155344

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