MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
Johannes EnglsbergerAlexander DietrichGeorge MesesanGianluca GarofaloChristian OttAlin Albu-SchäfferPublished in: Robotics: Science and Systems (2020)
Keyphrases
- reference trajectory
- control system
- control method
- closed loop
- control strategy
- trajectory tracking
- real time
- neural network controller
- disturbance rejection
- controller design
- tracking error
- control law
- impedance control
- control rules
- tracking control
- control scheme
- optimal control
- guaranteed cost
- adaptive control
- control strategies
- control theory
- inverted pendulum
- robotic manipulator
- unmanned aerial vehicles
- external disturbances
- motion control
- control loop
- human operators
- operating conditions
- control algorithm
- adaptive neural
- robotic systems
- open loop
- kalman filter
- neural network
- iterative learning control
- control architecture
- control policy
- object tracking
- visual tracking
- sliding mode control
- fuzzy logic controller
- adaptive fuzzy
- control parameters
- autonomous robots
- limit cycle
- video sequences
- particle filter
- dynamic model
- fuzzy controller
- fuzzy logic control
- nonlinear systems
- sliding mode
- control signals
- pi controller
- modular robots
- robot manipulators
- tracking accuracy