Asymptotic Stabilization and Trajectory Tracking of 4 DOF Ball Balancer using LQR.
J. Farzana PashaS. J. MijaPublished in: TENCON (2019)
Keyphrases
- trajectory tracking
- closed loop
- control law
- bi directional
- dynamic model
- control system
- physical constraints
- optimal control
- degrees of freedom
- iterative learning
- visual servoing
- iterative learning control
- control scheme
- control method
- sliding mode
- motion planning
- feedback control
- wheeled mobile robots
- vision system
- control strategy
- path planning
- control theory
- nonlinear systems
- pid controller
- pose estimation
- experimental data
- computer vision
- neural network structure