2026
Lagrangian Neural Network-Based Control: Improving Robotic Trajectory Tracking Via Linearized Feedback
ICRA 2026poster
This paper introduces a control framework that leverages Lagrangian neural networks (LNNs) for computed torque control (CTC) of robotic systems with unknown dynam- ics. Unlike prior LNN-based controllers that are placed outside the feedback-linearization framework (e.g., feedforward), we embed an LN…