Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups.
Rama Seshan ChandrasekaranRavi N. BanavarArun D. MahindrakarD. H. S. MaithripalaPublished in: Autom. (2024)
Keyphrases
- pid controller
- mechanical systems
- lie group
- motion planning
- closed loop
- control system
- control method
- geometric structure
- control law
- feedback control
- control scheme
- parameter space
- rbf neural network
- degrees of freedom
- path planning
- mobile robot
- fuzzy control
- particle swarm optimization
- riemannian manifolds
- mean shift
- control strategy
- humanoid robot
- trajectory planning
- machine learning
- bp neural network
- multi robot
- global optimization
- optical flow
- expert systems
- real time