Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.
Shishir KolathayaAyonga HereidAaron D. AmesPublished in: ACC (2016)
Keyphrases
- robotic systems
- control theory
- nonlinear dynamics
- robot control
- dynamical systems
- mobile robot
- air fuel ratio
- adaptive control
- control system
- equilibrium point
- tracking error
- highly nonlinear
- robotic arm
- stability analysis
- neural network
- closed loop
- real time control
- autonomous robots
- optimal control
- robot motion
- control loop
- fault tolerant control
- quadruped robot
- robust stability
- robotic manipulator
- control method
- visual servoing
- degrees of freedom
- manipulation tasks
- perception action
- evolutionary game
- real time
- class of nonlinear systems
- single input single output