Closed-loop Controller for a Bio-inspired Multi-fingered Underactuated Prosthesis.
Christian CiprianiFranco ZacconeGiovanni StellinLucia BeccaiGiovanni CappielloMaria Chiara CarrozzaPaolo DarioPublished in: ICRA (2006)
Keyphrases
- closed loop
- bio inspired
- open loop
- control system
- control scheme
- control law
- swarm intelligence
- feedback control
- parameter identification
- pid controller
- disturbance rejection
- feedback controller
- control loop
- force control
- artificial neural networks
- trajectory tracking
- dc motor
- asymptotic stability
- tracking error
- guaranteed cost
- reference trajectory
- nonlinear systems
- motion planning
- machine learning
- external disturbances