Direct Lyapunov approach for tracking control of underactuated mechanical systems.
Warren N. WhiteJaspen PatenaudeMikil FossDeyka GarciaPublished in: ACC (2009)
Keyphrases
- mechanical systems
- tracking control
- control law
- nonlinear systems
- motion planning
- adaptive control
- closed loop
- tracking error
- control scheme
- control system
- degrees of freedom
- mobile robot
- control strategy
- control algorithm
- lyapunov function
- path planning
- adaptive neural
- gait analysis
- adaptive fuzzy
- controller design
- optimal control
- fuzzy control
- fuzzy systems
- fuzzy model
- nonlinear functions
- manufacturing process
- learning rate
- humanoid robot
- input output
- fuzzy logic
- multi robot
- dynamical systems
- fuzzy rules