Design of Homogeneous Time-Varying Stabilizing Control Laws for Driftless Controllable Systems Via Oscillatory Approximation of Lie Brackets in Closed Loop.
Pascal MorinJean-Baptiste PometClaude SamsonPublished in: SIAM J. Control. Optim. (1999)
Keyphrases
- closed loop
- control law
- nonlinear systems
- control system
- open loop
- control scheme
- parameter uncertainties
- feedback control
- feedback controller
- control theory
- parameter identification
- control algorithm
- optimal control
- adaptive control
- flight control
- visual servoing
- motion planning
- pid controller
- controller design
- intelligent control
- sliding mode
- trajectory tracking
- control strategy
- expert systems
- lyapunov function
- learning algorithm
- stability analysis
- control parameters
- control method
- dynamic model
- reference trajectory