Lyapunov-based control of a robot and mass-spring system undergoing an impact collision.
Keith DupreeWarren E. DixonGuoqiang HuChien-Hao LiangPublished in: ACC (2006)
Keyphrases
- control theory
- autonomous robots
- robot manipulators
- adaptive control
- mass spring
- robotic systems
- robot control
- hand eye
- control system
- mobile robot
- control signals
- robotic arm
- nonlinear dynamics
- control scheme
- control law
- visual servoing
- dynamical systems
- collision avoidance
- collision free
- stability analysis
- sufficient conditions
- control method
- control strategy
- image processing
- nonlinear systems
- legged robots
- real robot
- closed loop
- path planning
- camera motion
- image segmentation
- humanoid robot
- multi robot
- dynamic environments
- dynamic model
- deformable models