Structure-preserving constrained optimal trajectory planning of a wheeled inverted pendulum.
Klaus AlbertKarmvir Singh PhogatFelix AnhaltRavi N. BanavarDebasish ChatterjeeBoris LohmannPublished in: CoRR (2018)
Keyphrases
- inverted pendulum
- structure preserving
- trajectory planning
- feedback control
- intelligent control
- mobile robot
- simulation study
- fuzzy controller
- optimal control
- obstacle avoidance
- nonlinear systems
- motion planning
- control algorithm
- fuzzy systems
- robot manipulators
- closed loop
- path planning
- initial conditions
- dynamic environments
- optimal path
- dynamic programming
- input output
- real time
- control strategy
- data points
- three dimensional