A bearing-only control law for stable docking of unicycles.
Ran WeiRobert E. MahonyDavid AustinPublished in: IROS (2003)
Keyphrases
- control law
- closed loop
- control algorithm
- control system
- nonlinear systems
- control scheme
- control strategy
- control theory
- optimal control
- adaptive control
- visual servoing
- motion planning
- trajectory tracking
- flight control
- lyapunov function
- autonomous robots
- linear model
- dynamical systems
- feedback control
- tracking error
- force control
- sliding mode
- external disturbances
- pid controller
- adaptive fuzzy
- parameter identification
- dynamic model
- fuzzy logic