Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics.
Pan ZhaoArun LakshmananKasey A. AckermanAditya GahlawatMarco PavoneNaira HovakimyanPublished in: CoRR (2021)
Keyphrases
- nonlinear systems
- control law
- trajectory tracking
- adaptive control
- closed loop
- stability analysis
- control system
- sliding mode
- control method
- control theory
- control strategy
- adaptive neural
- inverted pendulum
- visual servoing
- control algorithm
- controller design
- control scheme
- adaptive fuzzy
- fuzzy control
- optimal control
- fuzzy controller
- lyapunov function
- neural network controller
- tracking error
- variable structure
- autonomous robots
- linear matrix inequality
- iterative learning
- motion planning
- feedback control
- dynamic model
- fuzzy model
- physical constraints
- control parameters
- bi directional
- nonlinear functions
- real time
- fuzzy systems
- dynamical systems
- input output
- neural network
- robot manipulators
- fuzzy neural network
- learning rate
- computational intelligence
- fuzzy logic
- mobile robot
- evolutionary algorithm