A nonlinear optimal control approach for underactuated power-line inspection robots.
Gerasimos G. RigatosNikolaos A. ZervosPierluigi SianoMasoud AbbaszadehJorge PomaresPatrice WiraPublished in: Robotica (2022)
Keyphrases
- optimal control
- power line
- class of nonlinear systems
- lyapunov function
- linear quadratic
- control problems
- continuous stirred tank reactor
- dynamic programming
- low voltage
- feedback control
- tree crown
- multi robot task allocation
- reinforcement learning
- mobile robot
- infinite horizon
- multi robot
- control strategy
- motion planning
- linear systems
- optimal control problems
- robotic systems
- ecg signals
- path planning
- control law
- design considerations
- stability analysis