Feedback-Linearizing Control for Velocity and Attitude Tracking of an ROV with Thruster Dynamics Containing Input Dead Zones.
Jordan BoehmEric BerkenpasCharles ShepardDerek A. PaleyPublished in: ACC (2019)
Keyphrases
- tracking error
- desired trajectory
- control method
- closed loop
- control law
- reference trajectory
- nonlinear systems
- control scheme
- trajectory tracking
- tracking accuracy
- lyapunov function
- initial conditions
- robot manipulators
- fuzzy controller
- adaptive fuzzy
- control strategy
- control system
- dynamic model
- external disturbances
- position and orientation
- optimal control
- adaptive control
- iterative learning control
- particle filter
- visual servoing
- human operators
- highly nonlinear
- kinematic model
- control algorithm
- physical constraints
- feedback loop
- phase contrast
- control signals
- motion model
- air fuel ratio
- attitudes toward
- dynamical systems