Lyapunov-based tracking control in the presence of uncertain nonlinear parameterizable friction.
Charu MakkarWarren E. DixonW. Gregory SawyerGuoqiang HuPublished in: ACC (2005)
Keyphrases
- tracking control
- nonlinear systems
- control law
- stability analysis
- closed loop
- adaptive control
- lyapunov function
- tracking error
- robust stability
- linear matrix inequality
- control scheme
- controller design
- fuzzy controller
- control algorithm
- control system
- fuzzy model
- fuzzy control
- nonlinear functions
- adaptive neural
- learning rate
- fuzzy systems
- control strategy
- dynamical systems
- sufficient conditions
- autonomous robots
- decision making
- adaptive fuzzy
- neural network
- real time
- motion planning
- feedback control
- evolutionary algorithm
- control parameters
- optimal control
- dynamic model