Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems.
Giorgos MamakoukasMaria L. CastanoXiaobo TanTodd D. MurpheyPublished in: CoRR (2020)
Keyphrases
- robotic systems
- real time control
- control system
- mobile robot
- flexible manufacturing systems
- vision system
- control architecture
- machining processes
- autonomous robots
- indoor environments
- strong robustness
- search and rescue
- unstructured environments
- multi robot
- robot behavior
- closed loop
- real time
- multi modal
- human teaching behavior
- robust stability
- fuzzy logic
- stability criterion
- swarm robotics
- object manipulation
- laplacian operator
- robotic manipulator
- control law