Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics.
Shuyang ChenJohn T. WenPublished in: CoRR (2019)
Keyphrases
- robot manipulators
- trajectory tracking control
- neural learning
- sliding mode
- control scheme
- multi layered
- dynamic model
- sliding mode control
- closed loop
- control system
- control strategy
- incremental learning
- neural network
- variable structure
- control law
- stability analysis
- fuzzy neural network
- tracking error
- pid controller
- fuzzy controller
- genetic algorithm
- semi supervised
- learning process