Dual-mode nonlinear MPC via terminal control laws with free-parameters.
Defeng HePublished in: IEEE CAA J. Autom. Sinica (2017)
Keyphrases
- free parameters
- control law
- closed loop
- tracking control
- feedback controller
- variable structure
- nonlinear models
- nonlinear systems
- optimal control
- linear quadratic
- control system
- external disturbances
- lyapunov function
- control theory
- control scheme
- feedback control
- adaptive control
- visual servoing
- control algorithm
- control strategy
- tunable parameters
- parameter identification
- stability analysis
- tracking error
- pid controller
- motion planning
- neural network controller
- dynamical systems
- dynamic programming
- adaptive neural
- control parameters
- trajectory tracking
- mpc algorithm
- autonomous robots
- predictive control
- dynamic model
- computer vision