Neighboring extremal nonlinear model predictive control of a rigid body on SO(3).

Shiva Bagherzadeh Hossein Karimpour Mehdi Keshmiri

Published 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