Motion planning for nonlinear systems using hybridizations and robust controllers on simplices.
Antoine GirardSamuel MartinPublished in: CDC (2008)
Keyphrases
- motion planning
- control law
- nonlinear systems
- adaptive control
- controller design
- tracking control
- degrees of freedom
- stability analysis
- mobile robot
- path planning
- humanoid robot
- multi robot
- adaptive neural control
- inverted pendulum
- configuration space
- fuzzy control
- real time
- fuzzy systems
- fuzzy model
- linear matrix inequality
- evolutionary computation
- control system