H∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics.
Amir Salimi LafmejaniHamed FarivarnejadSpring BermanPublished in: IROS (2020)
Keyphrases
- mobile robot
- motion control
- tracking error
- path planning
- external disturbances
- mobile robot localization
- obstacle avoidance
- indoor environments
- real time
- vision sensor
- dynamic environments
- closed loop
- optimal control
- autonomous navigation
- control scheme
- inverted pendulum
- robot control
- robust stability
- dynamic model
- initially unknown
- control strategy
- optimal solution
- motion planning
- dynamic programming
- autonomous robots
- control system
- dynamical systems
- multi robot
- robotic systems
- visual tracking
- nonlinear systems
- feedback control
- control law
- guaranteed cost
- highly nonlinear
- simultaneous localization and mapping
- kalman filter
- object tracking
- particle filter
- image sequences
- neural network