Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics.
Ville PitkänenV. HalonenAnssi KemppainenJuha RöningPublished in: ICRA (2019)
Keyphrases
- dynamic model
- control algorithm
- parallel manipulator
- mobile robot
- robust stability
- cooperative
- inverse dynamics
- experimental data
- control scheme
- controller design
- obstacle avoidance
- multi robot
- human robot interaction
- highly nonlinear
- physical constraints
- trajectory tracking
- external disturbances
- dynamical systems
- control system
- real time
- semidefinite programming
- control architecture
- autonomous robots
- motion control
- service robots
- decision making
- legged robots
- quadruped robot
- adaptive fuzzy
- robot manipulators
- adaptive control
- fuzzy logic
- neural network