Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control.
Mohamed DjehaArnaud TanguyAbderrahmane KheddarPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- closed loop
- open loop
- control system
- feedback control
- control law
- control loop
- guaranteed cost
- adaptive control
- disturbance rejection
- feedback controller
- trajectory tracking
- control scheme
- tracking error
- control theory
- adaptive fuzzy
- reference trajectory
- induction motor
- parameter identification
- asymptotic stability
- force control
- external disturbances
- constrained optimization
- controller design
- inverted pendulum
- control method
- dc motor
- real time
- visual servoing
- position control
- control strategy
- lagrange multipliers
- optimal control
- pid controller
- nonlinear systems
- chaotic systems
- adaptive neural
- fuzzy logic
- mobile robot