Predictive Barrier Lyapunov Function Based Control for Safe Trajectory Tracking of an Aerial Manipulator.
Vedant MundhedaKaran MirakhorRahul K. SHarikumar KandathNagamanikandan GovindanPublished in: CoRR (2022)
Keyphrases
- trajectory tracking
- lyapunov function
- control method
- control law
- closed loop
- control system
- control strategy
- control algorithm
- adaptive control
- nonlinear systems
- control theory
- control scheme
- sliding mode
- visual servoing
- optimal control
- bi directional
- neural network controller
- dynamic model
- pid controller
- iterative learning
- tracking error
- physical constraints
- motion planning
- sufficient conditions
- feedback control
- adaptive fuzzy
- fuzzy controller
- fuzzy control
- dynamical systems
- controller design
- stability analysis
- control parameters
- hopfield neural network
- linear matrix inequality
- experimental data
- sliding mode control
- variable structure
- autonomous robots
- neural network