FFTSMC with Optimal Reference Trajectory Generated by MPC in Robust Robotino Motion Planning with Saturating Inputs.

Max Hedman Paolo Mercorelli

Published in: ACC (2021)

Keyphrases

motion planning
control law
degrees of freedom
path planning
reference trajectory
trajectory planning
mobile robot
humanoid robot
closed loop
multi robot
optimal control
collision free
robotic tasks
configuration space
dynamic programming
real time
adaptive control
nonlinear systems
neural network