A Single-Loop MIMO Trajectory Tracking Controller for Autonomous Quadrotors: The Control Point Concept.
Han Woong BaeFarbod FahimiPublished in: Robotica (2021)
Keyphrases
- trajectory tracking
- closed loop
- control system
- dynamic model
- bi directional
- control method
- control law
- neural network controller
- iterative learning
- iterative learning control
- sliding mode
- physical constraints
- visual servoing
- wheeled mobile robots
- control strategy
- control scheme
- control algorithm
- adaptive control
- reference trajectory
- pid controller
- variable structure
- sliding mode control
- robotic systems
- mobile robot
- controller design
- feedback control
- control theory
- stability analysis
- fuzzy logic
- neural network structure
- fuzzy systems
- neural network
- vision system
- particle swarm optimization
- adaptive fuzzy
- robot manipulators
- optimal control