Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic.
Bryan S. GuevaraLuis F. RecaldeViviana MoyaJosé Varela AldásDaniel Ceferino GandolfoJuan Marcos ToiberoPublished in: IEEE Access (2024)
Keyphrases
- control law
- closed loop
- tracking error
- adaptive neural
- nonlinear systems
- external disturbances
- tracking control
- adaptive control
- adaptive controller
- control scheme
- feedback controller
- optimal control
- control system
- dynamic model
- learning rate
- variable structure
- nonlinear models
- stability analysis
- lyapunov function
- dynamical systems
- sliding mode control
- feedback control
- control algorithm
- control strategy
- controller design
- flight control
- visual servoing
- dynamic environments
- trajectory tracking
- fuzzy controller
- adaptive fuzzy
- linear matrix inequality
- lyapunov stability
- neural network
- parameter identification
- nonlinear functions
- sliding mode
- autonomous robots
- neural network controller
- fuzzy control
- motion planning
- real time
- robot manipulators
- predictive control
- radial basis function neural network
- pid controller
- fuzzy model
- fuzzy rules
- parameter uncertainties