A force limiting adaptive controller for a robotic system undergoing a non-contact to contact transition.
C. LiangShubhendu BhasinKeith DupreeWarren E. DixonPublished in: CDC (2007)
Keyphrases
- robotic systems
- adaptive controller
- robotic manipulator
- adaptive control
- robot manipulators
- contact force
- fuzzy rules
- force feedback
- single neuron
- end effector
- control law
- mobile robot
- autonomous robots
- control architecture
- vision system
- multi robot
- nonlinear systems
- control algorithm
- control scheme
- control method
- tracking error
- neural network
- dynamic programming