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Real-time decentralized neural backstepping controller for a robot manipulator.
Ramón García-Hernández
Edgar N. Sánchez
Víctor Santibáñez
Miguel A. Llama
Eduardo Jose Bayro-Corrochano
Published in:
CCA/ISIC (2009)
Keyphrases
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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