Learned Lyapunov functions, residual SAC policies, and PINNs are combined with a Slotine-Li controller and a closed-form safety filter to improve tracking on uncertain Euler-Lagrange systems while retaining stability guarantees.
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Learned Lyapunov Shielding for Adaptive Control
Learned Lyapunov functions, residual SAC policies, and PINNs are combined with a Slotine-Li controller and a closed-form safety filter to improve tracking on uncertain Euler-Lagrange systems while retaining stability guarantees.