Abstract: Model predictive control (MPC) has been extensively investigated for its impressive dynamic response and efficacy in controlling non-linear systems. However, MPC faces challenges in terms of ...
As the Army’s Transformation-in-Contact brigades test and help develop new technology, they’re also shaping how soldiers will be trained to use it. At Fort Stewart, Georgia, soldiers in the 3rd ...
Abstract: This paper introduces a control framework that leverages Lagrangian neural networks (LNNs) for computed torque control (CTC) of robotic systems with unknown dynamics. Unlike prior LNN-based ...
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