Development of closed loop coordinated control of a robot guided SMA actuated flexible active needle with multimodal sensory feedbacks.
Felix OrlandoMaria JosephPublished in: IECON (2017)
Keyphrases
- closed loop
- open loop
- force control
- position control
- control law
- control scheme
- control system
- trajectory tracking
- control loop
- feedback control
- visual servoing
- reference trajectory
- robot manipulators
- disturbance rejection
- robotic manipulator
- control theory
- parameter identification
- control strategy
- feedback controller
- pid controller
- neural network controller
- control method
- adaptive control
- guaranteed cost
- nonlinear systems
- inverted pendulum
- control algorithm
- controller design
- asymptotic stability
- real time
- end effector
- autonomous robots
- control architecture
- induction motor
- sensory motor
- mobile robot
- control strategies
- external disturbances
- force feedback
- multi robot
- robotic systems
- tracking error
- sliding mode
- fuzzy logic
- robot arm
- lyapunov function
- fuzzy control