Predictive Control of Robot Arm Trajectory Tracking Based on Control Lyapunov Function.
Yaguang YanMinan TangWenjuan WangYaqi ZhangBo AnPublished in: ICARM (2023)
Keyphrases
- control law
- predictive control
- lyapunov function
- trajectory tracking
- nonlinear systems
- closed loop
- control scheme
- motion planning
- control strategy
- control system
- control theory
- adaptive control
- control algorithm
- visual servoing
- sliding mode
- optimal control
- control strategies
- control method
- tracking error
- dynamical systems
- stability analysis
- degrees of freedom
- autonomous robots
- variable structure
- dynamic model
- linear matrix inequality
- pid controller
- control parameters
- path planning
- linear model
- mobile robot
- real time
- fuzzy logic
- adaptive fuzzy
- fuzzy controller
- mathematical model