Nonlinear Optimal Control of the Underactuated Wheeled Bipedal Robot

Keyphrases

• Nonlinear Optimal Control 100%
• Under-actuated 100%
• Wheeled Bipedal Robot 100%
• Dynamic Model 33%
• Control Method 33%
• Control Problem 33%
• Control Algorithm 33%
• Control Loop 33%
• Under Uncertainty 33%
• Optimal Control Strategy 33%
• H-infinity Controller 33%
• External Perturbation 33%
• System State 16%
• Control Scheme 16%
• Feedback Controller 16%
• Stability Properties 16%
• H-infinity 16%
• Nonlinearity 16%
• Feedback Gain 16%
• Robotic System 16%
• Linearization 16%
• Optimal Control Problem 16%
• Operating Point 16%
• Globally Asymptotically Stable 16%
• Jacobian Matrix 16%
• Linearized Model 16%
• Algebraic Riccati Equation 16%
• Control Input 16%
• Fast Tracking 16%
• Approximate Linearization 16%
• Accurate Tracking 16%
• H-infinity Tracking Performance 16%
• First-order Taylor Series Expansion 16%
• Lyapunov Analysis 16%
• Underactuation 16%
• 3DOF 16%
• State-space Description 16%

Engineering

• Optimal Control 100%
• Dynamic Models 66%
• Control Algorithm 66%
• Control Loop 66%
• Control Scheme 33%
• Feedback Controller 33%
• System State 33%
• Control Input 33%
• Setpoints 33%
• Feedback Gain 33%
• Robotic System 33%
• Robot 33%
• Operating Point 33%
• Optimal Control Problem 33%
• Jacobian matrix 33%
• Taylor Series Expansion 33%
• Nonlinearity 33%
• Riccati Equation 33%
• Underactuation 33%

Mathematics

• Optimal Control Theory 100%
• Dynamic Models 66%
• Control Loop 66%
• Matrix (Mathematics) 33%
• Approximates 33%
• Control Problems 33%
• Time Step 33%
• Globally asymptotically stable 33%
• System State 33%
• Optimal Control Problem 33%
• Nonlinearity 33%
• Riccati Equation 33%
• Taylor Series Expansion 33%