Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy.
Benedito C. O. MacielMarco H. TerraMarcel BergermanPublished in: J. Field Robotics (2003)
Keyphrases
- degrees of freedom
- receding horizon
- mechanical systems
- optimal control
- motion planning
- optimal linear
- control system
- adaptive control
- robotic systems
- dynamic programming
- master slave
- control algorithm
- control method
- computationally efficient
- optimal solution
- control strategy
- mobile robot
- data sets
- manufacturing systems
- control law
- optimal design
- control policy
- pose estimation
- robotic manipulator
- robust stability