PSO-based nonlinear model predictive planning and discrete-time sliding tracking control for uncertain planar underactuated manipulators.
Pan ZhangXuzhi LaiYawu WangChun-Yi SuMin WuPublished in: Int. J. Syst. Sci. (2022)
Keyphrases
- control law
- tracking control
- motion planning
- nonlinear models
- nonlinear systems
- adaptive control
- degrees of freedom
- path planning
- mobile robot
- linear matrix inequality
- closed loop
- humanoid robot
- multi robot
- particle swarm optimization
- lyapunov function
- control scheme
- decision making
- control system
- control algorithm
- control strategy
- particle swarm optimization pso
- optimal control
- dynamic model
- pso algorithm
- statistical models
- tracking error