Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective.
Juan Ignacio Mulero MartínezPublished in: Autom. (2008)
Keyphrases
- control law
- visual servoing
- autonomous robots
- closed loop
- trajectory tracking
- motion planning
- mobile robot
- control algorithm
- control system
- control scheme
- control theory
- adaptive control
- nonlinear systems
- computer controlled
- control strategy
- reference trajectory
- stability margin
- optimal control
- real robot
- robotic systems
- sliding mode
- robot manipulators
- vision system
- human robot interaction
- real time
- tracking control
- robot control
- humanoid robot
- dynamical systems
- path planning
- tracking error
- multi robot
- fuzzy rules
- expert systems
- control parameters
- objective function
- degrees of freedom
- pid controller
- neural network