A Finite-Time State-Dependent Differential Riccati Equation Control Design for Closed-Loop SMA-Actuated Hip Joint.
V. Perez-SanchezSaeed Rafee NekooBegoña C. ArrueAníbal OlleroPublished in: IROS (2023)
Keyphrases
- closed loop
- open loop
- control system
- feedback control
- control scheme
- control law
- state dependent
- fractional order
- controller design
- force control
- control loop
- intelligent control
- inverted pendulum
- disturbance rejection
- steady state
- guaranteed cost
- control strategy
- parameter identification
- adaptive control
- feedback controller
- position control
- visual servoing
- trajectory tracking
- reference trajectory
- dynamic model