Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance.
Xiangyu ChuChun Ho David LoTommaso ProiettiConor J. WalshKwok Wai Samuel AuPublished in: IEEE Trans. Control. Syst. Technol. (2023)
Keyphrases
- null space
- robotic systems
- linear discriminant analysis
- scatter matrices
- novelty detection
- singular value decomposition
- principal components
- theoretical guarantees
- intra class
- scatter matrix
- singular values
- finite dimensional
- discriminative information
- mobile robot
- principal component analysis
- optimal control
- lower dimensional
- vision system
- imitation learning
- feature extraction
- learning algorithm