Nonlinear MPC Based Coordinated Control of Towed Debris Using Tethered Space Robot.
Bingheng WangZhongjie MengPanfeng HuangPublished in: ICIRA (3) (2017)
Keyphrases
- mpc algorithm
- robot control
- robotic systems
- mobile robot
- model predictive control
- visual servoing
- hand eye
- motion control
- control system
- optimal control
- autonomous robots
- closed loop
- robot manipulators
- trajectory tracking
- linear quadratic
- robotic arm
- home environment
- control method
- force control
- multi robot
- neural network controller
- robot teams
- multiple robots
- walking robot
- joint space
- robot behavior
- tracking control
- wheeled mobile robot
- real time
- dynamic model
- humanoid robot
- multi agent
- low dimensional
- vision system
- path planning
- control strategy
- control algorithm
- robot navigation
- feedback control
- nonlinear dynamics
- control signals
- robotic manipulator
- control law
- semi autonomous
- control architecture
- highly nonlinear
- force feedback