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Stabilizing terminal constraint-free nonlinear MPC via sliding mode-based terminal cost.
Daxiong Ji
Jie Ren
Changxin Liu
Yang Shi
Published in:
Autom. (2021)
Keyphrases
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sliding mode
variable structure
stability analysis
robot manipulators
reinforcement learning
dynamic model
control scheme
color images
closed loop
optimal control
control method