A nonlinear optimal control approach for tracked mobile robots

DOI10.1007/s11424-021-0036-1zbMath1472.93129OpenAlexW3126770134MaRDI QIDQ2235609

Gerasimos G. Rigatos

Publication date: 21 October 2021

Published in: Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11424-021-0036-1

zbMATH Keywords

global asymptotic stabilitynonlinear optimal controlLyapunov analysisTaylor series expansionJacobian matricesapproximate linearizationH-infinity controltracked robotic vehicle

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Related Items (1)

Nonlinear model predictive control-based guidance algorithm for quadrotor trajectory tracking with obstacle avoidance

Cites Work

• Unnamed Item
• Modelling and control for intelligent industrial systems. Adaptive algorithms in robotics and industrial engineering.
• Fuzzy model validation using the local statistical approach
• Robotic manipulators and vehicles. Control, estimation and filtering
• Nonlinear control and filtering using differential flatness approaches. Applications to electromechanical systems
• Robust finite-time trajectory tracking control of wheeled mobile robots with parametric uncertainties and disturbances
• Extended Kalman filtering for fuzzy modelling and multi-sensor fusion
• Modelling of closed-chain manipulators on an excavator vehicle

This page was built for publication: A nonlinear optimal control approach for tracked mobile robots