Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems.
Leonardo J. ColomboDavid Martín de DiegoAradhana NayakRodrigo Sato Martín de AlmagroPublished in: SIAM J. Control. Optim. (2020)
Keyphrases
- mechanical systems
- motion planning
- control law
- trajectory tracking
- sliding mode
- closed loop
- dynamic programming
- optimal control
- feedback control
- mobile robot
- path planning
- gait analysis
- stability analysis
- iterative learning control
- iterative learning
- bi directional
- degrees of freedom
- control system
- physical constraints
- visual servoing
- real time