Exponential control law for a mobile robot: extension to path following.
Ole Jakob SørdalenCarlos Canudas de WitPublished in: ICRA (1992)
Keyphrases
- control law
- mobile robot
- obstacle avoidance
- motion planning
- autonomous robots
- visual servoing
- closed loop
- path planning
- control system
- control theory
- nonlinear systems
- control strategy
- control algorithm
- adaptive control
- variable structure
- control scheme
- optimal control
- degrees of freedom
- multi robot
- robot control
- dynamic environments
- robotic systems
- sliding mode
- trajectory tracking
- computer vision
- dynamical systems
- lyapunov function
- external disturbances
- parameter identification
- learning rate
- control method