A Robust Closed-Loop Biped Locomotion Planner Based on Time Varying Model Predictive Control.
Mohammadreza KasaeiNuno LauArtur PereiraPublished in: CoRR (2019)
Keyphrases
- closed loop
- parameter uncertainties
- control law
- model predictive control
- control system
- predictive control
- control scheme
- open loop
- feedback controller
- control strategy
- disturbance rejection
- feedback control
- linear matrix inequality
- parameter identification
- adaptive control
- pid controller
- nonlinear systems
- real time
- fuzzy logic
- control algorithm
- asymptotic stability
- mobile robot
- control method
- intelligent control
- fuzzy control
- tracking error
- controller design
- optimal control
- flight test
- sliding mode
- trajectory tracking
- degrees of freedom
- computational intelligence
- sufficient conditions