Exponential control law for a mobile robot: extension to path following.
Ole Jakob SørdalenCarlos Canudas de WitPublished in: IEEE Trans. Robotics Autom. (1993)
Keyphrases
- control law
- mobile robot
- obstacle avoidance
- motion planning
- autonomous robots
- visual servoing
- closed loop
- nonlinear systems
- path planning
- control algorithm
- control theory
- adaptive control
- control strategy
- control scheme
- dynamic environments
- control system
- dynamical systems
- optimal control
- trajectory tracking
- multi robot
- lyapunov function
- tracking error
- flight control
- robotic systems
- image sequences
- variable structure
- sliding mode
- neural network
- external disturbances
- degrees of freedom
- real time