A Biologically Inspired Controller for Trajectory Tracking of Flexible-Joint Manipulators.

Hamid Salmasi Reza Fotouhi Peter N. Nikiforuk

Published 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