Secure Adaptive Trajectory Tracking Control for Nonlinear Robot Systems Under Multiple Dynamic Obstacles: Safety Barrier Certificates
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DOI: 10.1109/tie.2021.3123641
Abstract: This article studies the problem of obstacle-avoidance tracking control for a class of uncertain nonlinear robot systems in multiple-dynamic-obstacles environment. The main challenge focuses on how to simultaneously ensure tracking performance and obstacle avoidance. The… read more here.
Keywords: barrier; control; obstacle; nonlinear robot ... See more keywords