Information-Aware Lyapunov-Based MPC in a Feedback-Feedforward Control Strategy for Autonomous Robots

This letter proposes a feedback-feedforward control scheme that combines the benefits of an online active sensing control strategy (the feedforward control component) to maximize the information needed for correctly executing the desired task, with a Lyapunov-based control strategy (the feedback con...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 2; pp. 4765 - 4772
Main Authors:	Napolitano, Olga, Fontanelli, Daniele, Pallottino, Lucia, Salaris, Paolo
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Active control Control stability Control systems Control theory Eigenvalues Feedback control Feedforward control Feedforward systems motion and path planning Nonlinear control Optimization and optimal control Predictive control Robot control Robot sensing systems Robotics sensor-based control Sensors Stability analysis Task analysis Trajectory Trajectory planning Uncertainty
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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