Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
Ruben GrandiaAndrew J. TaylorAndrew SingletaryMarco HutterAaron D. AmesPublished in: CoRR (2020)
Keyphrases
- robotic systems
- control architecture
- robotic manipulator
- autonomous robots
- mobile robot
- vision system
- control theory
- unstructured environments
- control scheme
- control law
- adaptive control
- real time
- object manipulation
- dynamical systems
- robot behavior
- nonlinear systems
- multi robot
- manipulation tasks
- imitation learning
- mpc algorithm
- predictive control
- nonlinear dynamics
- steady state
- computer vision