A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target.
Hrishik MishraMarco De StefanoAlessandro M. GiordanoRoberto LamparielloChristian OttPublished in: ACC (2020)
Keyphrases
- control scheme
- open loop
- control law
- control system
- closed loop
- control loop
- robotic manipulator
- real time
- position tracking
- neural network
- geometric structure
- limit cycle
- mobile robot
- control algorithm
- pid controller
- moving target
- robotic systems
- dynamic model
- control strategy
- operating conditions
- feedback control
- robot manipulators
- pose estimation