Nonlinear model predictive control for trajectory tracking of quadrotors using Lyapunov techniques.
Dong WangQuan PanJinwen HuChunhui ZhaoPublished in: Sci. China Inf. Sci. (2022)
Keyphrases
- trajectory tracking
- nonlinear model predictive control
- control law
- image based visual servoing
- visual servoing
- dynamic model
- control scheme
- closed loop
- control theory
- nonlinear systems
- control algorithm
- adaptive control
- control system
- sliding mode
- control strategy
- stability analysis
- dynamical systems
- optimal control
- experimental data
- robot manipulators
- tracking error
- fuzzy controller
- motion planning
- variable structure
- lyapunov function
- autonomous robots
- linear matrix inequality
- pid controller
- mobile robot
- control parameters
- predictive control
- vision system
- control method
- computationally efficient
- sufficient conditions