Predictive Barrier Lyapunov Function Based Control for Safe Trajectory Tracking of an Aerial Manipulator.
Vedant MundhedaKaran MirakhorRahul K. SHarikumar KandathNagamanikandan GovindanPublished in: ECC (2023)
Keyphrases
- trajectory tracking
- lyapunov function
- control law
- control method
- closed loop
- control system
- nonlinear systems
- control strategy
- sliding mode
- control algorithm
- control theory
- adaptive control
- visual servoing
- optimal control
- neural network controller
- bi directional
- dynamic model
- physical constraints
- fuzzy control
- control scheme
- tracking error
- iterative learning
- pid controller
- sufficient conditions
- stability analysis
- motion planning
- variable structure
- dynamical systems
- controller design
- feedback control
- linear model
- desired trajectory
- neural network structure
- linear matrix inequality
- manufacturing systems
- mobile robot