An all-terrain-controller for over-actuated wheeled mobile robots with feedforward and optimization-based control allocation.
Stefan BarthelmesSebastian ZehnterPublished in: CDC (2017)
Keyphrases
- wheeled mobile robots
- feed forward
- trajectory tracking
- adaptive neural
- control law
- closed loop
- control system
- neural network
- control scheme
- open loop
- limit cycle
- artificial neural networks
- sliding mode
- neural nets
- back propagation
- nonlinear systems
- dynamic model
- activation function
- neural network controller
- control theory
- control algorithm
- control method
- visual servoing
- visual cortex
- optimal control
- physical constraints
- bi directional
- control strategy
- recurrent neural networks
- real time
- iterative learning
- hidden layer
- machine learning
- adaptive control
- force control
- legged robots
- genetic algorithm
- stability analysis
- pid controller
- fuzzy logic