Information-Aware Lyapunov-Based MPC in a Feedback-Feedforward Control Strategy for Autonomous Robots - Napolitano, Olga; Fontanelli, Daniele; Pallottino, Lucia; Salaris, Paolo (IEEE robotics and automation letters, 2022)
Keywords: 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