Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions.
Salah BazziElie A. ShammasDaniel C. AsmarPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- optimal control
- feedback control
- sliding mode
- control law
- control strategy
- dynamic programming
- control problems
- risk sensitive
- class of nonlinear systems
- sliding mode control
- adaptive fuzzy
- reinforcement learning
- sliding mode controller
- optimal control problems
- infinite horizon
- nonlinear systems
- stochastic control
- variable structure
- constrained optimization
- control system
- control algorithm
- mathematical model
- constraint programming
- neural network
- objective function
- optimal solution
- mobile robot
- brownian motion
- control theory
- control scheme
- stability analysis
- adaptive control
- real time
- motion planning