A nonlinear optimal control approach for the truck and N-trailer robotic system.
Gerasimos G. RigatosKrishna BusawonMasoud AbbaszadehPublished in: IFAC J. Syst. Control. (2022)
Keyphrases
- optimal control
- robotic systems
- class of nonlinear systems
- lyapunov function
- linear quadratic
- dynamic programming
- continuous stirred tank reactor
- mobile robot
- vision system
- control architecture
- control problems
- control strategy
- feedback control
- autonomous robots
- infinite horizon
- brownian motion
- control law
- risk sensitive
- optimal control problems
- robotic manipulator
- manipulation tasks
- collective behavior
- real time
- nonlinear systems
- nonlinear equations
- stochastic control
- swarm robotics
- multi objective
- reinforcement learning
- computer vision