A model predictive control approach to attitude stabilization and trajectory tracking control of a 3D universal joint space robot with an initial angular momentum.
Tatsuya KaiPublished in: CDC/ECC (2011)
Keyphrases
- joint space
- model predictive control
- humanoid robot
- end effector
- degrees of freedom
- predictive control
- control system
- mobile robot
- configuration space
- control scheme
- robot manipulators
- control law
- inverse kinematics
- sliding mode
- autonomous robots
- learning rate
- motion planning
- visual servoing
- vision system
- multi modal
- genetic algorithm
- path planning
- fuzzy logic
- motor control
- dynamic environments