State-dependent trajectory planning and tracking control of unmanned surface vessels.
Reza A. SoltanHashem AshrafiuonKenneth R. MuskePublished in: ACC (2009)
Keyphrases
- state dependent
- trajectory planning
- tracking control
- path planning
- motion planning
- control law
- nonlinear systems
- obstacle avoidance
- steady state
- dynamic environments
- optimal policy
- robot manipulators
- mobile robot
- queueing networks
- queue length
- single server
- d objects
- adaptive neural
- markov chain
- fuzzy controller
- multi robot
- arrival rate
- fuzzy model
- stationary distribution
- asymptotically optimal
- learning rate
- adaptive control
- service times
- degrees of freedom
- neural network
- dynamical systems