Spatial integration for a nonlinear path tracking control law.
Morgan E. DavidsonVikas BahlKevin L. MoorePublished in: ACC (2002)
Keyphrases
- human body
- control law
- tracking error
- external disturbances
- tracking control
- closed loop
- reference trajectory
- trajectory tracking
- feedback controller
- nonlinear systems
- variable structure
- control system
- control scheme
- nonlinear models
- control algorithm
- lyapunov function
- neural network controller
- control strategy
- adaptive control
- control theory
- adaptive controller
- visual servoing
- dynamical systems
- motion planning
- optimal control
- sliding mode
- lyapunov stability
- sliding mode control
- linear model
- dynamic model
- real time
- parameter identification
- adaptive neural
- radial basis function neural network
- bi directional
- adaptive fuzzy
- tracking accuracy
- controller design
- feedback control
- fuzzy controller
- mathematical model
- neural network