Robust Backstepping Tracking Control Using Hybrid Sliding-Mode Neural Network for a Nonholonomic Mobile Manipulator with Dual Arms.
Meng-Bi ChengChing-Chih TsaiPublished in: CDC/ECC (2005)
Keyphrases
- tracking control
- control law
- sliding mode
- nonlinear systems
- stability analysis
- adaptive neural
- motion planning
- sliding mode control
- neural network
- closed loop
- adaptive fuzzy
- variable structure
- lyapunov function
- control strategy
- control system
- control algorithm
- control scheme
- adaptive control
- control theory
- optimal control
- controller design
- fuzzy systems
- fuzzy control
- fuzzy controller
- dynamical systems
- mobile robot
- degrees of freedom
- tracking error
- fuzzy model
- linear matrix inequality
- learning rate
- artificial neural networks
- linear model
- least squares
- real time
- fuzzy logic
- back propagation
- autonomous robots
- convergence speed
- dynamic model
- recurrent neural networks