---
publication_id: "OT-2026-000000880"
title: "Dynamic system controller with online machine learning"
published_at: "2026-09-15T19:03:32.082814Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000880"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j15/10"
  - "b25j9/14"
  - "b25j9/1633"
  - "b25j9/1689"
---

# Dynamic system controller with online machine learning

## Abstract

A dynamic system controller includes a first error detection unit that determines a first error between a joint state and a joint state target. The joint state describes an actual state of a set of joints in a dynamic body. The set of joints has one or more degrees of freedom that are controlled by a set of actuators. An impedance controller generates an impedance torque or force based on the first error. A first neural network accepts the joint state target and outputs an estimated actuation force. A second error detection unit determines a second error between an actual actuation force applied to the set of joints by the set of actuators at the joint state and a combination of the impedance torque or force and the estimated actuation force. A force controller generates a set of actuation commands based on the second error.