Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics.
Pan ZhaoArun LakshmananKasey A. AckermanAditya GahlawatMarco PavoneNaira HovakimyanPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- nonlinear systems
- control law
- trajectory tracking
- closed loop
- control system
- adaptive control
- control theory
- stability analysis
- sliding mode
- controller design
- control strategy
- visual servoing
- control algorithm
- inverted pendulum
- adaptive neural
- control method
- control scheme
- lyapunov function
- adaptive fuzzy
- optimal control
- fuzzy control
- neural network controller
- fuzzy controller
- tracking error
- linear matrix inequality
- variable structure
- bi directional
- robust stability
- dynamical systems
- feedback control
- learning rate
- control parameters
- motion planning
- physical constraints
- iterative learning
- pid controller
- dynamic model
- machine learning
- fuzzy systems
- autonomous robots
- linear model
- mathematical model
- nonlinear functions