Nonlinear Model Predictive Control for Trajectory Tracking of a Hexarotor with Actively Tiltable Propellers.
David ShawkyChao YaoKlaus JanschekPublished in: ICARA (2021)
Keyphrases
- trajectory tracking
- nonlinear model predictive control
- dynamic model
- image based visual servoing
- visual servoing
- closed loop
- experimental data
- control law
- vision system
- bi directional
- control scheme
- mobile robot
- active learning
- physical constraints
- iterative learning
- camera motion
- image space
- real time
- pose estimation
- back propagation
- robot control
- dynamic environments
- multiple models
- robot manipulators
- sliding mode
- neural network