Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
Ruben GrandiaAndrew J. TaylorAndrew SingletaryMarco HutterAaron D. AmesPublished in: Robotics: Science and Systems (2020)
Keyphrases
- robotic systems
- control architecture
- mobile robot
- robotic manipulator
- autonomous robots
- control theory
- vision system
- unstructured environments
- control strategy
- control scheme
- control law
- adaptive control
- control system
- object manipulation
- manipulation tasks
- multi robot
- dynamical systems
- closed loop
- nonlinear systems
- distributed control
- imitation learning
- machine learning
- swarm robotics
- robust stability