Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing.
Liu HsuRamon R. CostaFernando C. LizarraldePublished in: IEEE Trans. Autom. Control. (2007)
Keyphrases
- adaptive control
- control law
- visual servoing
- mimo systems
- tracking error
- closed loop
- nonlinear systems
- control algorithm
- control system
- video transmission
- control scheme
- control theory
- control strategy
- feedback control
- optimal control
- variable structure
- lyapunov function
- low complexity
- motion planning
- autonomous robots
- stability analysis
- dynamical systems
- vision system
- mobile robot
- control method
- dynamic environments
- control parameters
- fading channels
- linear model
- dynamic model
- chaotic systems