Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains.
Despina Ekaterini ArgiropoulosDimitrios PapageorgiouMichael MaravgakisDrosakis DrosakisPanos E. TrahaniasPublished in: CoRR (2023)
Keyphrases
- trajectory tracking
- physical constraints
- quadruped robot
- closed loop
- bi directional
- control system
- dynamic model
- iterative learning control
- control law
- iterative learning
- neural network controller
- legged robots
- control method
- visual servoing
- adaptive control
- sliding mode
- mobile robot
- rough terrain
- feedback control
- adaptive fuzzy
- neural network
- autonomous robots
- control scheme
- control algorithm
- control strategy
- nonlinear systems
- tracking error
- pid controller
- robotic systems
- control parameters
- desired trajectory
- real time