Hovering control of an underwater robot with tilting thrusters using the decomposition and compensation method based on a redundant actuation model.
Jeongae BakYecheol MoonJongWon KimSanthakumar MohanTaeWon SeoSangrok JinPublished in: Robotics Auton. Syst. (2022)
Keyphrases
- mathematical model
- statistical model
- objective function
- theoretical analysis
- cost function
- probabilistic model
- em algorithm
- prior knowledge
- evaluation method
- decomposition method
- modeling method
- classification method
- recognition algorithm
- parameter estimation
- prediction model
- optimization method
- bp neural network
- probability distribution
- linear model
- structural learning
- test data
- energy function
- input data
- similarity measure
- control strategy
- sensor networks
- support vector machine
- mobile robot
- autoregressive
- autonomous robots
- pairwise
- control policy
- image segmentation