Nonholonomic closed-loop velocity control of a soft-tethered magnetic capsule endoscope.
Addisu Z. TaddesePiotr R. SlawinskiKeith L. ObsteinPietro ValdastriPublished in: IROS (2016)
Keyphrases
- closed loop
- feedback control
- reference trajectory
- control law
- open loop
- control system
- control theory
- tracking error
- control scheme
- control loop
- guaranteed cost
- feedback controller
- adaptive control
- inverted pendulum
- endoscopic images
- visual servoing
- trajectory tracking
- sliding mode
- disturbance rejection
- adaptive fuzzy
- parameter identification
- networked control systems
- nonlinear systems
- pid controller
- asymptotic stability
- external disturbances
- control strategy
- induction motor
- force control
- position control
- parameter uncertainties
- robotic manipulator
- fuzzy logic
- dc motor
- stability analysis
- sufficient conditions
- neural network