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Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique.
Ming Yue
Cong An
Jianzhong Sun
Published in:
Int. J. Control (2016)
Keyphrases
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trajectory tracking
closed loop
dynamic model
desired trajectory
physical constraints
control law
tracking error
bi directional
real time
visual servoing
dynamical systems
experimental data
adaptive control
feedback control
optimal control
iterative learning
iterative learning control
mathematical model