Linear time-varying control law for stabilization of hopping robot during flight phase.
Md. Suruz MiahHicham ChaouiPierre SicardPublished in: ISIE (2014)
Keyphrases
- control law
- visual servoing
- autonomous robots
- flight control
- closed loop
- parameter uncertainties
- trajectory tracking
- force control
- motion planning
- nonlinear models
- nonlinear systems
- mobile robot
- control algorithm
- control system
- end effector
- control scheme
- adaptive control
- linear model
- lyapunov stability
- robot manipulators
- control strategy
- optimal control
- reference trajectory
- flight test
- linear matrix inequality
- vision system
- position and orientation
- sliding mode
- robotic systems
- variable structure
- robot control
- lyapunov function
- tracking error
- path planning
- stability analysis
- degrees of freedom
- multi robot
- controller design
- sufficient conditions
- dynamical systems
- multi modal
- neural network controller
- control parameters