Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators.
Xuwei WuAnnika KirnerGianluca GarofaloChristian OttPaul KotyczkaAlexander DietrichPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- state dependent
- robot manipulators
- tracking control
- tracking error
- control scheme
- control law
- nonlinear systems
- adaptive neural
- steady state
- queueing networks
- optimal policy
- adaptive control
- arrival rate
- dynamic model
- fuzzy neural network
- asymptotically optimal
- single server
- stationary distribution
- fuzzy control
- markov chain
- adaptive fuzzy
- service times
- neural network
- linear combination
- initial state
- pid controller
- rough sets