Neighboring extremal nonlinear model predictive control of a rigid body on SO(3).
Shiva BagherzadehHossein KarimpourMehdi KeshmiriPublished in: Robotica (2023)
Keyphrases
- rigid body
- nonlinear model predictive control
- image based visual servoing
- dynamic model
- motion parameters
- rotation and translation
- rigid objects
- rigid body motion
- computationally efficient
- visual servoing
- steady state
- real time
- experimental data
- control scheme
- principal component analysis
- least squares
- three dimensional