Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation.
Eckhard ArnoldJörg NeupertOliver SawodnyKlaus SchneiderPublished in: CCA (2007)
Keyphrases
- trajectory tracking
- neural network controller
- control system
- closed loop
- sliding mode
- bi directional
- control method
- dynamic model
- control law
- physical constraints
- variable structure
- iterative learning
- visual servoing
- wheeled mobile robots
- reference trajectory
- stability analysis
- iterative learning control
- optimal control
- adaptive control
- control strategy
- dynamic programming
- control scheme
- control algorithm
- lyapunov function
- control theory
- sliding mode control
- feedback control
- robot manipulators
- dynamical systems
- input output
- nonlinear systems