Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction.
Ran JiaoJianfeng LiYongfeng RongTaogang HouPublished in: Sensors (2023)
Keyphrases
- nonlinear models
- control law
- impedance control
- force control
- optimal control
- closed loop
- control system
- linear model
- control strategy
- control scheme
- linear models
- position control
- human computer interaction
- statistical models
- control algorithm
- motion planning
- robot manipulators
- human robot interaction
- reinforcement learning
- variable selection
- statistical model
- least squares
- machine learning