A bi-level nonlinear predictive control scheme for hopping robots with hip and tail actuation.
Knut GraichenSebastian HentzeltPublished in: IROS (2015)
Keyphrases
- control scheme
- bi level
- neural network controller
- feedback controller
- limit cycle
- closed loop
- neural model
- control strategy
- control algorithm
- gray scale
- control system
- dynamic model
- position control
- external disturbances
- control law
- predictive control
- robot manipulators
- tracking error
- mobile robot
- robotic systems
- control loop
- variable structure
- controller design
- mathematical model
- robotic manipulator
- pid controller
- induction motor
- degrees of freedom
- multi robot
- fuzzy controller
- sliding mode
- operating conditions
- feedback control
- multiresolution
- humanoid robot
- experimental data
- image compression
- lyapunov function
- highly nonlinear
- autonomous robots
- wavelet transform
- adaptive neural control