Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems.
Jian WangTing WangChen YaoXiaoFan LiChengdong WuPublished in: Sci. China Inf. Sci. (2014)
Keyphrases
- control law
- optimal control
- motion planning
- visual servoing
- mobile robot
- nonlinear systems
- feedback control
- control strategy
- trajectory tracking
- control system
- autonomous robots
- reference trajectory
- force control
- closed loop
- control theory
- tracking control
- dynamic programming
- adaptive control
- lyapunov function
- reinforcement learning
- humanoid robot
- control algorithm
- infinite horizon
- degrees of freedom
- variable structure
- optimal control problems
- path planning
- control scheme
- sliding mode
- mathematical model
- tracking error
- dynamical systems
- sensory information
- particle swarm optimization
- vision system
- multi robot
- neural network
- lyapunov stability