Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions
Proposing a new parameterization to model complex Lyapunov functions. Estimating task-oriented Lyapunov functions from demonstrations. Ensuring stability of nonlinear autonomous dynamical systems. Applicability to any smooth regression method.
control lyapunov function robot point-to-point movements imitation learning nonlinear dynamical systems stability analysis movement primitives