The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 19, 2021
Filed:
Jul. 03, 2019
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A control system for controlling a machine with partially modeled dynamics to perform a task estimates a Lipschitz constant bounding the unmodeled dynamics of the machine, initializes a constraint-admissible control policy using the Lipschitz constant for controlling the machine to perform a task, such that the constraint-admissible control policy satisfies stability constraint, safety and admissibility constraint including one or combination of a state constraint and an input constraint, and has a finite cost on the performance of the task, and jointly controls the machine and update the control policy to control an operation of the machine to perform the task according the control policy starting with the initialized constraint-admissible control policy and to update the control policy using data collected while performing the task. In such a manner, the updated control policy is constraint-admissible.