An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulators.
Andrea CalancaLuca Massimiliano CapisaniAntonella FerraraLorenza MagnaniPublished in: RoMoCo (2007)
Keyphrases
- robot manipulators
- inverse dynamics
- sliding mode
- sliding mode control
- nonlinear systems
- control scheme
- control law
- stability analysis
- inverse kinematics
- dynamic model
- variable structure
- fuzzy controller
- control system
- control strategy
- adaptive fuzzy
- end effector
- adaptive control
- learning rate
- pid controller
- closed loop
- control algorithm
- experimental data
- input output
- mathematical model
- neural network