Dual Closed-loop Impedance Control for Wheeled Mobile Manipulator in Trajectory Tracking.
Qirong TangPengjie XuFangchao YuJingtao ZhangZhipeng XuPublished in: ROBIO (2019)
Keyphrases
- closed loop
- trajectory tracking
- force control
- position control
- control law
- control system
- feedback control
- control scheme
- inverted pendulum
- iterative learning control
- mobile robot
- motion planning
- pid controller
- visual servoing
- sliding mode
- real time
- adaptive control
- dynamic model
- robot manipulators
- experimental data
- adaptive fuzzy
- fuzzy sets
- reinforcement learning