Lyapunov-based nonlinear controllers for obstacle avoidance with a planar n-link doubly nonholonomic manipulator.
Bibhya SharmaJito VanualailaiShonal SinghPublished in: Robotics Auton. Syst. (2012)
Keyphrases
- obstacle avoidance
- control law
- path planning
- motion planning
- tracking control
- degrees of freedom
- trajectory tracking
- mobile robot
- variable structure
- stability analysis
- sliding mode
- parallel manipulator
- nonlinear systems
- trajectory planning
- adaptive control
- lyapunov function
- control system
- control theory
- closed loop
- space exploration
- tracking error
- class of nonlinear systems
- control scheme
- collision avoidance
- nonlinear functions
- multi robot
- visual navigation
- autonomous vehicles
- nonlinear dynamics
- autonomous robots
- adaptive neural
- linear matrix inequality
- robot manipulators
- control algorithm
- dynamic environments
- control method
- visually guided
- feedback control
- controller design
- pose estimation
- fuzzy controller
- control strategy
- reinforcement learning
- dynamical systems
- optimal control
- dynamic model
- humanoid robot
- sufficient conditions
- fuzzy logic
- iterative learning control
- fuzzy logic controller
- fuzzy control