Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis.
Kaustav ChakrabortySomil BansalPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- closed loop
- reachability analysis
- control system
- control law
- open loop
- control loop
- markov decision processes
- control scheme
- model checking
- trajectory tracking
- controller synthesis
- feedback control
- real time
- timed automata
- incremental algorithms
- pid controller
- controller design
- adaptive control
- linear quadratic
- asymptotic stability
- nonlinear systems
- feedback controller
- control strategy
- state space
- parameter identification
- sliding mode
- inverted pendulum
- visual servoing
- vision system
- neural network controller
- force control
- position control
- reference trajectory
- fuzzy controller
- adaptive fuzzy
- control algorithm
- control method
- fuzzy control