Control law synthesis and sensitivity analysis from Lagrangian formulation with impulse conditions.
Michel CotsaftisClaude VibetPublished in: Adv. Robotics (1989)
Keyphrases
- sensitivity analysis
- control law
- closed loop
- control algorithm
- nonlinear systems
- control system
- control strategy
- control scheme
- managerial insights
- optimal control
- adaptive control
- lyapunov function
- sufficient conditions
- variational inequalities
- motion planning
- lagrange multipliers
- dynamical systems
- decision variables
- autonomous robots
- real time
- external disturbances
- least squares
- lyapunov stability