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Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation.
Pan Zhao
Ziyao Guo
Yikun Cheng
Aditya Gahlawat
Hyungsoo Kang
Naira Hovakimyan
Published in:
Robotics (2024)
Keyphrases
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trajectory tracking
dynamic model
iterative learning
desired trajectory
closed loop
physical constraints
bi directional
control system
real time
control scheme
wheeled mobile robots
mobile robot
control law
visual servoing
iterative learning control