Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization.
Siavash FarzanAi-Ping HuMichael BickJonathan D. RogersPublished in: IROS (2020)
Keyphrases
- receding horizon
- robot control
- control system
- mechanical systems
- autonomous systems
- robotic systems
- optimization algorithm
- industrial robots
- formation control
- autonomous robots
- computationally efficient
- control theory
- optimization problems
- mobile robot
- cooperative
- signature verification
- simultaneous optimization
- robust stability
- unstructured environments
- distributed control
- human operators
- control scheme
- optimal control
- global optimization
- model checking