On the use of a computed-torque control law for the terminal region of an NMPC scheme.
Ngoc Thinh NguyenIonela ProdanLaurent LefèvrePublished in: ACC (2019)
Keyphrases
- control law
- control algorithm
- control scheme
- closed loop
- control strategy
- nonlinear systems
- control system
- control theory
- adaptive control
- clustering scheme
- optimal control
- dynamic model
- sliding mode
- control method
- autonomous robots
- motion planning
- mathematical model
- visual servoing
- feedback control
- controller design
- robot manipulators
- force control
- variable structure
- dynamical systems
- real time
- adaptive fuzzy