Real-time decentralized neural backstepping controller for a robot manipulator.
Ramón García-HernándezEdgar N. SánchezVíctor SantibáñezMiguel A. LlamaEduardo Jose Bayro-CorrochanoPublished in: CCA/ISIC (2009)
Keyphrases
- robot manipulators
- real time
- control scheme
- control system
- control strategy
- force control
- control law
- pid controller
- closed loop
- control of robot manipulators
- sliding mode control
- inverse kinematics
- neural network
- dynamic model
- control algorithm
- controller design
- sliding mode
- tracking error
- nonlinear systems
- control method
- adaptive fuzzy
- optimal control
- degrees of freedom
- vision system
- fuzzy controller
- particle swarm optimization
- lyapunov function
- adaptive control
- fuzzy control
- fuzzy logic
- genetic algorithm