Task Based Kinematical Robot Control in the Presence of Actuator Velocity Saturation and Its Application to Trajectory Tracking for an Omni-wheeled Mobile Robot.
Giovanni IndiveriJan PaulusPaul-Gerhard PlögerPublished in: ICRA (2007)
Keyphrases
- robot control
- trajectory tracking
- wheeled mobile robot
- control system
- pid controller
- closed loop
- visual servoing
- desired trajectory
- control algorithm
- control method
- control law
- mobile robot
- iterative learning control
- neural network controller
- autonomous robots
- control strategy
- fuzzy logic
- fuzzy control
- real time
- control scheme
- reinforcement learning
- control parameters
- fuzzy controller
- tracking error
- dynamic model
- feedback control
- optimal control
- robot manipulators
- machine learning