Unifying Robot Trajectory Tracking with Control Contraction Metrics.
Ian R. ManchesterJustin Z. TangJean-Jacques E. SlotinePublished in: ISRR (2) (2015)
Keyphrases
- trajectory tracking
- control system
- closed loop
- visual servoing
- control method
- bi directional
- dynamic model
- iterative learning
- physical constraints
- sliding mode
- control law
- wheeled mobile robots
- neural network controller
- iterative learning control
- mobile robot
- control scheme
- vision system
- robot manipulators
- stability analysis
- control strategy
- control algorithm
- adaptive control
- pid controller
- fuzzy control
- real time
- robot control
- feedback control
- fuzzy logic
- neural network structure
- autonomous robots
- reference trajectory
- motion planning
- image space
- associative memory
- neural network