Nonlinear steering control under input magnitude and rate constraints with exponential convergence.
Rin SuyamaSatoshi SatohAtsuo MakiPublished in: CoRR (2023)
Keyphrases
- tracking control
- nonlinear optimization problems
- control system
- convergence speed
- highly nonlinear
- wheeled mobile robots
- steady state error
- control method
- control strategy
- iterative learning control
- data sets
- control theory
- feedback control
- feedback loop
- physical constraints
- lyapunov function
- convergence rate
- constraint satisfaction