Hybrid Tracking Control of 2-DOF SCARA Robot via Port-Controlled Hamiltonian and Backstepping.
Jieru ChiHaisheng YuJinpeng YuPublished in: IEEE Access (2018)
Keyphrases
- tracking control
- nonlinear systems
- control law
- position control
- end effector
- closed loop
- control scheme
- motion planning
- autonomous robots
- path planning
- mobile robot
- control strategy
- robotic manipulator
- control strategies
- adaptive control
- control system
- controller design
- degrees of freedom
- fuzzy controller
- fuzzy control
- lyapunov function
- fuzzy model
- humanoid robot
- learning rate
- control algorithm
- vision system
- optimal control
- adaptive fuzzy
- fuzzy systems
- multi robot
- robotic systems
- adaptive neural
- robot manipulators
- tracking error
- real time
- dynamic model
- pose estimation
- inverted pendulum
- decision making