Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups.
Rama SeshanRavi N. BanavarD. H. S. MaithripalaArun D. MahindrakarPublished in: CoRR (2021)
Keyphrases
- pid controller
- mechanical systems
- lie group
- motion planning
- closed loop
- control system
- control law
- geometric structure
- feedback control
- control method
- control scheme
- parameter space
- mobile robot
- fuzzy control
- particle swarm optimization
- degrees of freedom
- rbf neural network
- mean shift
- trajectory planning
- bp neural network
- riemannian manifolds
- path planning
- humanoid robot
- multi robot
- machine learning
- control algorithm
- radial basis function
- mathematical model
- motion estimation
- pattern recognition
- image processing