Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles.
Junwoo JangSangli TengMaani GhaffariPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- trajectory tracking
- closed loop
- dynamic model
- autonomous vehicles
- control system
- control law
- bi directional
- iterative learning control
- control method
- control scheme
- physical constraints
- feedback control
- visual servoing
- iterative learning
- real time
- experimental data
- path planning
- wheeled mobile robots
- stability analysis
- sliding mode
- nonlinear systems
- artificial neural networks