Explicit control laws for the periodic motion planning of controllable driftless systems on SU(n).
Hector Bessa SilveiraPaulo Sérgio Pereira da SilvaPierre RouchonPublished in: CDC (2012)
Keyphrases
- motion planning
- control law
- mechanical systems
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- humanoid robot
- robotic tasks
- nonlinear systems
- robot arm
- robotic arm
- multi robot
- adaptive control
- autonomous mobile robot
- collision free
- visual servoing
- expert systems
- climbing robot
- inverse kinematics
- closed loop
- mathematical model
- control system