Nonlinear optimal control for the 4-DOF underactuated robotic tower crane.
Gerasimos G. RigatosMasoud AbbaszadehJorge PomaresPublished in: Auton. Intell. Syst. (2022)
Keyphrases
- optimal control
- class of nonlinear systems
- linear quadratic
- degrees of freedom
- lyapunov function
- motion planning
- robotic arm
- robotic manipulator
- control strategy
- control problems
- continuous stirred tank reactor
- dynamic programming
- control strategies
- neural network controller
- feedback control
- infinite horizon
- reinforcement learning
- optimal control problems
- mobile robot
- pose estimation
- position control
- robotic systems
- path planning
- control law
- real time
- brownian motion
- mechanical systems
- closed loop
- manipulation tasks
- parallel robot