Decoupled Reinforcement Hybrid PPO–Sliding Control for Underactuated Systems: Application to Cart–Pole and Acrobot
Underactuated systems, such as the Cart–Pole and Acrobot, pose significant control challenges due to their inherent nonlinearity and limited actuation. Traditional control methods often struggle to achieve stable and optimal performance in these complex scenarios. This paper presents a novel stable...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-07-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/13/7/601 |
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