Adaptive backstepping trajectory tracking control of robot manipulator.
Qinglei HuLiang XuAihua ZhangPublished in: J. Frankl. Inst. (2012)
Keyphrases
- robot manipulators
- control of robot manipulators
- sliding mode
- control scheme
- control strategy
- control law
- sliding mode control
- closed loop
- control system
- adaptive control
- nonlinear systems
- dynamic model
- control algorithm
- control method
- pid controller
- tracking error
- motion planning
- controller design
- variable structure