Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC.
Andrea TagliabueYi-Hsuan HsiaoUrban FaselJ. Nathan KutzSteven L. BruntonYuFeng ChenJonathan P. HowPublished in: ICRA (2023)
Keyphrases
- high rate
- trajectory tracking
- closed loop
- low rate
- control law
- iterative learning
- dynamic model
- false alarms
- control system
- mobile robot
- physical constraints
- control scheme
- neural network
- iterative learning control
- multi robot
- optimal control
- control method
- nonlinear systems
- feedback control
- control strategy
- path planning
- face detection
- object detection
- real time