Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization- based backstepping control with sliding mode extended state observer.
Yingxun WangYan MaZhihao CaiJiang ZhaoPublished in: Trans. Inst. Meas. Control (2020)
Keyphrases
- sliding mode
- trajectory tracking
- control strategy
- control law
- obstacle avoidance
- closed loop
- motion planning
- control system
- variable structure
- mobile robot
- sliding mode control
- stability analysis
- visual servoing
- control scheme
- control theory
- control method
- path planning
- nonlinear systems
- control algorithm
- adaptive control
- robot manipulators
- neural network controller
- optimal control
- bi directional
- dynamic model
- mathematical model
- iterative learning
- physical constraints
- fuzzy logic controller
- dynamical systems
- fuzzy controller
- optimization algorithm
- chaotic systems
- feedback control
- initial conditions
- neural network
- lyapunov function
- adaptive neural
- tracking error
- degrees of freedom
- dynamic environments
- robotic systems