A Biologically Inspired Controller for Trajectory Tracking of Flexible-Joint Manipulators.
Hamid SalmasiReza FotouhiPeter N. NikiforukPublished in: Int. J. Robotics Autom. (2012)
Keyphrases
- biologically inspired
- trajectory tracking
- control law
- closed loop
- control system
- bi directional
- adaptive control
- control algorithm
- visual servoing
- control scheme
- sliding mode
- control method
- neural network controller
- iterative learning control
- dynamic model
- nonlinear systems
- physical constraints
- iterative learning
- control theory
- motion planning
- control strategy
- humanoid robot
- optimal control
- dynamical systems
- feedback control
- variable structure
- tracking error
- linear model
- robot manipulators
- adaptive fuzzy
- stability analysis
- spiking neural networks
- real time
- degrees of freedom
- dynamic environments
- fuzzy controller